diff options
Diffstat (limited to 'include')
| -rw-r--r-- | include/API.h | 2 | ||||
| -rw-r--r-- | include/main.h | 133 | ||||
| -rw-r--r-- | include/zephyr.h | 88 |
3 files changed, 132 insertions, 91 deletions
diff --git a/include/API.h b/include/API.h index 32d8686..7de7889 100644 --- a/include/API.h +++ b/include/API.h @@ -504,7 +504,6 @@ 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.
@@ -528,7 +527,6 @@ 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 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();
diff --git a/include/zephyr.h b/include/zephyr.h deleted file mode 100644 index 11f922f..0000000 --- a/include/zephyr.h +++ /dev/null @@ -1,88 +0,0 @@ -#ifndef ZEPHYR_H_ -#define ZEPHYR_H_ - -#include <main.h> - -#define PI 3.14159265L - -#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 -#endif // LCD_PORT - -/* - * Comment to disable gyro support. -*/ - -#define GYRO_PORT 2 - -#ifdef GYRO_PORT - -void zGyroInit(void); -int zGyroGet(void); -void zGyroReset(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 - int, // Desired Speed - unsigned int // Caller ID - ); -char zMotorGet(const char *); // Motor Name - -void zMotorTake(const char *,unsigned int); -void zMotorReturn(const char *); - -#ifdef IME_ENABLE - -int zMotorIMEGet(const char *); // Motor Name -int zMotorIMEGetVelocity(const char *); // Motor Name -bool zMotorIMEReset(const char *motor); - -#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_ |