diff options
Diffstat (limited to 'include/main.h')
| -rw-r--r-- | include/main.h | 133 |
1 files changed, 132 insertions, 1 deletions
diff --git a/include/main.h b/include/main.h index 7022f11..cc616d8 100644 --- a/include/main.h +++ b/include/main.h @@ -2,12 +2,143 @@ #define MAIN_H_
#include <API.h>
-#include <zephyr.h>
+#include <stdint.h>
+
+typedef struct{
+ int x;
+ int y;
+}vec2;
+
+typedef enum {
+ UP,
+ DOWN,
+ KEY_UP
+} Button;
+
+typedef struct {
+ unsigned int num;
+ struct Side {
+ struct Group {
+ Button l;
+ Button r;
+ Button u;
+ Button d;
+ } front, back;
+ vec2 stick;
+ } left, right;
+} Controller;
+
+typedef struct {
+ enum type {
+ DIGITAL,
+ ANALOG,
+ GYRO,
+ ULTRASONIC
+ } type;
+ union data {
+ Gyro gyro;
+ Ultrasonic sonic;
+ } data;
+ unsigned int port;
+ int value;
+ int initial;
+} Sensor;
+
+typedef struct {
+ bool kill_req;
+ bool exiting;
+ TaskCode code;
+ TaskHandle handle;
+ void *param;
+} Process;
#ifdef __cplusplus
extern "C" {
#endif
+#define DEFAULT_TRPM trpm = 1850;
+#define EXTRA_TRPM trpm = 1900;
+
+#define PI 3.14159265L
+
+#define LCD_PORT uart2
+
+/**
+ * Be sure that getIMEPort() matches these values (see sensor.c).
+ */
+
+enum MOTOR_MAP {
+ CANNON_LEFT = 1,
+ CANNON_RIGHT,
+ LIFT_PUSHER,
+ INTAKE_1,
+ INTAKE_2,
+ DRIVE_RIGHT,
+ DRIVE_LEFT,
+ LIFT_1,
+ LIFT_2,
+ LIFT_ROTATER
+};
+
+enum MOTOR_IME_MAP {
+ DRIVE_RIGHT_IME = 0,
+ DRIVE_LEFT_IME,
+ LIFT_ROTATER_IME,
+ LIFT_1_IME,
+ LIFT_2_IME,
+ CANNON_LEFT_IME,
+ CANNON_RIGHT_IME
+};
+
+extern unsigned char MOTOR_USE_MAP[10];
+
+#define motorTake(p,k) MOTOR_USE_MAP[p-1] = k;
+#define motorFree(p) MOTOR_USE_MAP[p-1] = 0;
+#define motorSetK(p,s,k) if(!MOTOR_USE_MAP[p-1] || MOTOR_USE_MAP[p-1] == k){ motorSet(p,s); }
+#define motorSetN(p,s) motorSetK(p,s,0)
+
+int getIMEPort(unsigned int port);
+int getIME(unsigned int port);
+int getIMEVelocity(unsigned int port);
+
+/**
+ * Controller library functions
+ */
+
+#define keyUp(b) (b == KEY_UP)
+#define keyDown(b) (b == DOWN)
+
+void setEvent(Controller *c);
+
+/**
+ * Sensor library functions
+ */
+
+#define LIGHT_THRESH_DEFAULT 50
+#define SONIC_THRESH_DEFAULT 8
+
+#define initUltrasonic(p1,p2) initSensor((p2<<16)|p1,ULTRASONIC)
+Sensor initSensor(uint32_t port,unsigned char type);
+
+#define getSensor(s) (s.value)
+int readSensor(Sensor *s);
+
+#define diffSensor(s) (s.value - s.initial)
+#define underSensor(s,t) (diffSensor(s) < -t)
+#define overSensor(s,t) (diffSensor(s) > t)
+
+/**
+ * Process library functions
+ */
+
+#define taskInit(h,p) if(!h) h = taskCreate(h##Code,TASK_DEFAULT_STACK_SIZE,p,TASK_PRIORITY_DEFAULT);
+
+/**
+ * Main function declarations
+ */
+
+extern void softwareReset(void);
+
void autonomous();
void initializeIO();
void initialize();
|