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/** @file init.c
* @brief File for initialization code
*
* This file should contain the user initialize() 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"
Encoder encoder1,encoder2;
/*
* Runs pre-initialization code. This function will be started in kernel mode one time while the
* VEX Cortex is starting up. As the scheduler is still paused, most API functions will fail.
*
* The purpose of this function is solely to set the default pin modes (pinMode()) and port
* states (digitalWrite()) of limit switches, push buttons, and solenoids. It can also safely
* configure a UART port (usartOpen()) but cannot set up an LCD (lcdInit()).
*/
void initializeIO() {
pinMode(1,INPUT);
pinMode(2,INPUT);
pinMode(3,INPUT);
pinMode(4,INPUT);
pinMode(5,INPUT);
pinMode(6,INPUT);
pinMode(7,INPUT);
pinMode(8,INPUT);
// Setup sensors.
}/*
* Runs user initialization code. This function will be started in its own task with the default
* priority and stack size once when the robot is starting up. It is possible that the VEXnet
* communication link may not be fully established at this time, so reading from the VEX
* Joystick may fail.
*
* This function should initialize most sensors (gyro, encoders, ultrasonics), LCDs, global
* variables, and IMEs.
*
* This function must exit relatively promptly, or the operatorControl() and autonomous() tasks
* will not start. An autonomous mode selection menu like the pre_auton() in other environments
* can be implemented in this task if desired.
*/
void initialize() {
lcdInit(uart2);
lcdClear(uart2);
lcdSetBacklight(uart2,1);
encoder1 = encoderInit(3,4,true);
encoder2 = encoderInit(5,6,true);
}
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