uploaded code

6 files changed, 196 insertions, 0 deletions

diff --git a/src/Makefile b/src/Makefile
new file mode 100644
index 0000000..865f1e7
--- /dev/null
+++ b/src/Makefile
@@ -0,0 +1,50 @@
+# Makefile for compiling PROS projects

+

+# Path to project root (NO trailing slash!)

+ROOT=..

+# Binary output directory

+BINDIR=$(ROOT)/bin

+

+# Nothing below here needs to be modified by typical users

+

+# Include common aspects of this project

+-include $(ROOT)/common.mk

+

+ASMSRC:=$(wildcard *.$(ASMEXT))

+ASMOBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(ASMSRC:.$(ASMEXT)=.o))

+HEADERS:=$(wildcard *.$(HEXT))

+### Special section for Cortex projects ###

+HEADERS_2:=$(wildcard ../include/*.$(HEXT))

+### End special section ###

+CSRC=$(wildcard *.$(CEXT))

+COBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(CSRC:.$(CEXT)=.o))

+CPPSRC:=$(wildcard *.$(CPPEXT))

+CPPOBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(CPPSRC:.$(CPPEXT)=.o))

+OUT:=$(BINDIR)/$(OUTNAME)

+

+.PHONY: all

+

+# By default, compile program

+all: .

+

+# Compiles the program if anything is changed

+.: $(ASMOBJ) $(COBJ) $(CPPOBJ)

+	@touch .

+

+# Assembly source file management

+$(ASMOBJ): $(BINDIR)/%.o: %.$(ASMEXT)

+	@echo AS $<

+	@$(AS) $(AFLAGS) -o $@ $<

+

+### Special section for Cortex projects ###

+

+# Object management

+$(COBJ): $(BINDIR)/%.o: %.$(CEXT) $(HEADERS) $(HEADERS_2)

+	@echo CC $(INCLUDE) $<

+	@$(CC) $(INCLUDE) $(CFLAGS) -o $@ $<

+

+$(CPPOBJ): $(BINDIR)/%.o: %.$(CPPEXT) $(HEADERS) $(HEADERS_2)

+	@echo CPC $(INCLUDE) $<

+	@$(CPPCC) $(INCLUDE) $(CPPFLAGS) -o $@ $<

+

+### End special section ###

diff --git a/src/auto.c b/src/auto.c
new file mode 100644
index 0000000..9df57af
--- /dev/null
+++ b/src/auto.c
@@ -0,0 +1,52 @@
+/** @file auto.c

+ * @brief File for autonomous code

+ *

+ * This file should contain the user autonomous() function and any functions related to it.

+ *

+ * Copyright (c) 2011-2014, Purdue University ACM SIG BOTS.

+ * All rights reserved.

+ *

+ * Redistribution and use in source and binary forms, with or without

+ * modification, are permitted provided that the following conditions are met:

+ *     * Redistributions of source code must retain the above copyright

+ *       notice, this list of conditions and the following disclaimer.

+ *     * Redistributions in binary form must reproduce the above copyright

+ *       notice, this list of conditions and the following disclaimer in the

+ *       documentation and/or other materials provided with the distribution.

+ *     * Neither the name of Purdue University ACM SIG BOTS nor the

+ *       names of its contributors may be used to endorse or promote products

+ *       derived from this software without specific prior written permission.

+ *

+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND

+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

+ * DISCLAIMED. IN NO EVENT SHALL PURDUE UNIVERSITY ACM SIG BOTS BE LIABLE FOR ANY

+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+ *

+ * Purdue Robotics OS contains FreeRTOS (http://www.freertos.org) whose source code may be

+ * obtained from http://sourceforge.net/projects/freertos/files/ or on request.

+ */

+

+#include "main.h"

+

+/*

+ * Runs the user autonomous code. This function will be started in its own task with the default

+ * priority and stack size whenever the robot is enabled via the Field Management System or the

+ * VEX Competition Switch in the autonomous mode. If the robot is disabled or communications is

+ * lost, the autonomous task will be stopped by the kernel. Re-enabling the robot will restart

+ * the task, not re-start it from where it left off.

+ *

+ * Code running in the autonomous task cannot access information from the VEX Joystick. However,

+ * the autonomous function can be invoked from another task if a VEX Competition Switch is not

+ * available, and it can access joystick information if called in this way.

+ *

+ * The autonomous task may exit, unlike operatorControl() which should never exit. If it does

+ * so, the robot will await a switch to another mode or disable/enable cycle.

+ */

+void autonomous() {

+}

diff --git a/src/init.c b/src/init.c
new file mode 100644
index 0000000..f3948f0
--- /dev/null
+++ b/src/init.c
@@ -0,0 +1,15 @@
+#include "main.h"

+

+Gyro gyro;

+unsigned int imeCount=0;

+

+void initializeIO(void){

+	pinMode(1,INPUT_ANALOG);

+}

+

+void initialize(void){

+	lcdInit(uart1);

+	lcdClear(uart1);

+	gyro=gyroInit(2,0);

+	imeCount=imeInitializeAll();

+}

diff --git a/src/opcontrol.c b/src/opcontrol.c
new file mode 100644
index 0000000..b2896a2
--- /dev/null
+++ b/src/opcontrol.c
@@ -0,0 +1,72 @@
+#include "main.h"

+

+#define NEAR_THRESH 0.05f

+

+enum MOTOR {

+	UNUSED = 0,

+	ROTATER,

+	DRIVEL,

+	DRIVER,

+	LIFT1,

+	LIFT2,

+	INTAKE,

+	UNUSED7,

+	UNUSED8,

+	UNUSED9,

+	UNUSED10

+};

+

+static unsigned char idx=0;

+static float intakeRotation=0;

+

+int nearDegree(float target){

+	if(intakeRotation<target-NEAR_THRESH)return  1;

+	if(intakeRotation>target+NEAR_THRESH)return -1;

+	else				    			 return  0;

+}

+

+void operatorControlLCD(void *param){

+	static int imeValue=0;

+	static float nearTarget=0;

+	while(1){

+		imeGet(idx,&imeValue);

+		intakeRotation=imeValue/1037.0f;

+		lcdPrint(uart1,1,"%u %d",imeCount,nearDegree(nearTarget));

+		lcdPrint(uart1,2,"%u %d",idx,imeValue);

+		if(joystickGetDigital(1,7,JOY_LEFT)){

+			if(idx)idx--;

+		}else if(joystickGetDigital(1,7,JOY_RIGHT)){

+			if(idx<imeCount-1)idx++;

+		}

+		if(joystickGetDigital(1,8,JOY_LEFT)){

+			nearTarget-=.25;

+		}else if(joystickGetDigital(1,8,JOY_RIGHT)){

+			nearTarget+=.25;

+		}

+		delay(300);

+	}

+}

+

+void operatorControl(void){

+	static char liftSpeed=0;

+	static char intakeSpeed=0;

+	taskCreate(operatorControlLCD,TASK_DEFAULT_STACK_SIZE,NULL,TASK_PRIORITY_DEFAULT);

+	while(1){

+		// Set drive motors

+		motorSet(DRIVEL, joystickGetAnalog(1,3));

+		motorSet(DRIVER,-joystickGetAnalog(1,2));

+		liftSpeed=-(joystickGetDigital(1,6,JOY_UP  )? 127:

+				    joystickGetDigital(1,6,JOY_DOWN)?-127:0);

+		motorSet(LIFT1,liftSpeed);

+		motorSet(LIFT2,liftSpeed);

+		intakeSpeed=-(joystickGetDigital(1,5,JOY_UP  )? 127:

+					  joystickGetDigital(1,5,JOY_DOWN)?-127:0);

+		motorSet(INTAKE,intakeSpeed);

+		motorSet(ROTATER,joystickGetAnalog(1,1));

+

+		// test motor

+		//motorSet(10,joystickGetDigital(1,7,JOY_UP)?127:0);

+

+		delay(20);

+	}

+}

diff --git a/src/robot.cpp b/src/robot.cpp
new file mode 100644
index 0000000..82c45cd
--- /dev/null
+++ b/src/robot.cpp
@@ -0,0 +1 @@
+#include <robot.h>
diff --git a/src/robot.h b/src/robot.h
new file mode 100644
index 0000000..f8887da
--- /dev/null
+++ b/src/robot.h
@@ -0,0 +1,6 @@
+#ifndef ROBOT_H_
+#define ROBOT_H_
+
+#include <API.h>
+
+#endif /* ROBOT_H_ */