diff options
Diffstat (limited to 'include/main.h')
| -rw-r--r-- | include/main.h | 150 |
1 files changed, 121 insertions, 29 deletions
diff --git a/include/main.h b/include/main.h index d0ee41b..d680b2b 100644 --- a/include/main.h +++ b/include/main.h @@ -4,67 +4,152 @@ #include <API.h>
#include <stdint.h>
+/**
+ * A two-dimensional vector structure.
+ *
+ * This structure contains a 2D coordinate for organized storage.
+ */
+
typedef struct{
- int x;
- int y;
-}vec2;
+ int x; /**< The 'x' coordinate */
+ int y; /**< The 'y' coordinate */
+} vec2;
+
+/**
+ * An enum for storing a button's position.
+ *
+ * The controller subsystem allows buttons to generate three signals. These are
+ * the expected pressed and unpressed states, named DOWN and UP respectively,
+ * along with a third signal called KEY_UP that is sent out upon the immediate
+ * release of a button. This allows for one-time events to be called on button
+ * releases.
+ */
typedef enum {
- UP,
- DOWN,
- KEY_UP
+ UP, /**< The unpressed state */
+ DOWN, /**< The pressed state */
+ KEY_UP /**< The 'just-released' state */
} Button;
+/**
+ * A structure for storing all input states of a single controller.
+ *
+ * This object groups a joystick's axes and buttons in a convenient manner,
+ * with simple function calls to poll inputs and update them.
+ */
+
typedef struct {
- unsigned int num;
+ unsigned int num; /**< The joystick's number as seen by PROS */
+
+ /**
+ * The 'Side' structures separate the left and right halves of the
+ * controller.
+ */
+
struct Side {
+
+ /**
+ * The 'Group' structure groups the buttons as written on the
+ * controller.
+ */
+
struct Group {
- Button l;
- Button r;
- Button u;
- Button d;
+ Button l; /**< The left button, if it exists */
+ Button r; /**< The right button, if it exists */
+ Button u; /**< The up button */
+ Button d; /**< The down button */
} front, back;
- vec2 stick;
+
+ vec2 stick; /**< The joystick's position, stored as a 2D coordinate. */
+
} left, right;
+
} Controller;
+/**
+ * A structure for handling most robot sensors.
+ *
+ * This structure contains the information necessary to handle most of the
+ * sensors provided by VEX, and allows for easier sensor reading and handling.
+ */
+
typedef struct {
+
+ /**
+ * A 'type' enum for recognizing the sensor's type.
+ */
+
enum type {
- DIGITAL,
- ANALOG,
- GYRO,
- ULTRASONIC
+ DIGITAL, /**< A generic digital sensor */
+ ANALOG, /**< A generic analog sensor */
+ GYRO, /**< A gyroscore (BROKEN) */
+ ULTRASONIC /**< An ultrasonic sensor */
} type;
+
+ /**
+ * A special 'data' item for sensors that need extra variables.
+ */
+
union data {
- Gyro gyro;
- Ultrasonic sonic;
+ Gyro gyro; /**< The gyroscope object provided by PROS */
+ Ultrasonic sonic; /**< The ultrasonic object provided by PROS */
} data;
- unsigned int port;
- int value;
- int initial;
+
+ unsigned int port; /**< The port that the sensor is connected to */
+ int value; /**< The most recent value of the sensor */
+ int initial; /**< The initial reading from the sensor */
} Sensor;
+/**
+ * A structure for tracking processes.
+ *
+ * This object contains most information about a task, as well as flags for
+ * controlling the task's state.
+ */
+
typedef struct {
- bool kill_req;
- bool exiting;
- TaskCode code;
- TaskHandle handle;
- void *param;
+ bool kill_req; /**< A kill request signal for ending the process */
+ TaskCode code; /**< The function that is the task */
+ TaskHandle handle; /**< The task handle provided by PROS */
+ void *param; /**< The argument provided for the task */
} Process;
#ifdef __cplusplus
extern "C" {
#endif
-#define DEFAULT_TRPM trpm = 1850;
-#define EXTRA_TRPM trpm = 1900;
+/**
+ * A macro for setting the target RPM to it's default value.
+ */
+
+#define DEFAULT_TRPM trpm = 1650;
+
+/**
+ * A macro for setting the target RPM to a little higher than usually
+ * necessary.
+ */
+
+#define EXTRA_TRPM trpm = 1650;
+
+/**
+ * The mathematical constant 'pi', for trig/angular calculations.
+ */
#define PI 3.14159265L
+/**
+ * The port that an LCD is expected to be plugged into.
+ */
+
#define LCD_PORT uart2
/**
- * Be sure that getIMEPort() matches these values (see sensor.c).
+ * An enum for the set of motor ports on the Cortex, for tagging what motors
+ * are.
+ *
+ * The getIMEPort() function defined in sensor.c takes these values for
+ * accessing their IME counterparts, so insure that this definition matches
+ * what getIMEPort() expects.
*/
enum MOTOR_MAP {
@@ -80,6 +165,13 @@ enum MOTOR_MAP { LIFT_ROTATER
};
+/**
+ * An enum for tagging IMEs.
+ *
+ * getIMEPort() will allow access to these values by referencing their
+ * MOTOR_MAP counterparts, so hard-coding these shouldn't be necessary.
+ */
+
enum MOTOR_IME_MAP {
DRIVE_RIGHT_IME = 0,
DRIVE_LEFT_IME,
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