3 files changed, 93 insertions, 33 deletions
diff --git a/include/API.h b/include/API.h
index 7de7889..32d8686 100644
--- a/include/API.h
+++ b/include/API.h
@@ -504,6 +504,7 @@ unsigned int imeInitializeAll();
  * * \c 240.448 for the 269 IME
  * * \c 627.2 for the 393 IME in high torque mode (factory default)
  * * \c 392 for the 393 IME in high speed mode
+ * * \c 261.333 for the 393 IME in turbo speed mode
  *
  * If the IME address is invalid, or the IME has not been reset or initialized, the value
  * stored in *value is undefined.
@@ -527,6 +528,7 @@ bool imeGet(unsigned char address, int *value);
  * * \c 30.056 for the 269 IME
  * * \c 39.2 for the 393 IME in high torque mode (factory default)
  * * \c 24.5 for the 393 IME in high speed mode
+ * * \c 16.3333125 for the 393 IME in turbo speed mode
  *
  * If the IME address is invalid, or the IME has not been reset or initialized, the value
  * stored in *value is undefined.
diff --git a/include/main.h b/include/main.h
index d1fcdb4..7022f11 100644
--- a/include/main.h
+++ b/include/main.h
@@ -2,44 +2,12 @@
 #define MAIN_H_
 
 #include <API.h>
-
-#define LCD_PORT uart1
-
-#define ANALOG_PORT(x) (x+13)
+#include <zephyr.h>
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-/*
- *	Aliases for all the motors, stored in an enum for convenience.
-*/
-
-enum MOTOR_PORT_MAP {
-	UNUSED = 0,
-	CANNON1,
-	CANNON2,
-	CANNON3,
-	CANNON4,
-	INTAKE,
-	DRIVER,
-	DRIVEL,
-	LIFT1,
-	LIFT2,
-	ROTATER,
-};
-
-enum IME_PORT_MAP {
-	IDRIVER = 0,
-	IDRIVEL,
-	IROTATER,
-	ILIFT1,
-	ILIFT2,
-	ICANNONL,
-	ICANNONR
-};
-
-
 void autonomous();
 void initializeIO();
 void initialize();
diff --git a/include/zephyr.h b/include/zephyr.h
new file mode 100644
index 0000000..844416a
--- /dev/null
+++ b/include/zephyr.h
@@ -0,0 +1,90 @@
+#ifndef ZEPHYR_H_
+#define ZEPHYR_H_
+
+#include <main.h>
+
+#define APPLY_THRESH(n,t)	if(n < t && n > -t){ n = 0;}
+
+/*
+ *	Comment to disable LCD support.
+*/
+
+#define LCD_PORT	uart1
+
+#define LCD_RATE	500
+
+#ifdef LCD_PORT
+
+void zLCDInit(void);
+void zLCDStart(void);
+
+void zLCDWrite(unsigned char,	// 1-based Line Number
+			   const char *,	// Text
+			   ...);
+
+void zLCDSetUpdateFunc(void (*)(void *));	// Function Pointer
+void zLCDClearUpdateFunc(void);
+
+#endif // LCD_PORT
+
+/*
+ *	Comment to disable gyro support.
+*/
+
+#define GYRO_PORT	2
+
+#ifdef GYRO_PORT
+
+void zGyroInit(void);
+
+#endif // GYRO_PORT
+
+/*
+ *	Comment to disable IME support.
+*/
+
+#define IME_ENABLE
+
+#ifdef IME_ENABLE
+
+void zIMEInit(void);
+
+#endif // IME_ENABLE
+
+/*
+ *	DRIVE_NORMAL will override tank drive options.
+*/
+
+#define DRIVE_JOY			1
+#define DRIVE_THRESHOLD		10
+
+//#define DRIVE_NORMAL		3
+
+#define DRIVE_TANK_LEFT		3
+#define DRIVE_TANK_RIGHT	2
+
+#define zJoyDigital(j,g,b)	joystickGetDigital(j,g,b)
+#define zJoyAnalog(j,a)		joystickGetAnalog(j,a)
+
+void zMotorSet(const char *,	// Motor Name
+			   char				// Desired Speed
+			   );
+char zMotorGet(const char *);	// Motor Name
+
+#ifdef IME_ENABLE
+
+int zMotorIMEGet(const char *);			// Motor Name
+int zMotorIMEGetVelocity(const char *);	// Motor Name
+
+#endif // IME_ENABLE
+
+void zDriveUpdate(void);
+
+char zGetDigitalMotorSpeed(unsigned char,	// Joystick No.
+				   	   	   unsigned char,	// Button Group
+						   unsigned char,	// Positive Button
+						   unsigned char,	// Negative Button
+						   char				// Desired Speed
+				   	   	   );
+
+#endif // ZEPHYR_H_