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#ifndef MAIN_H_
#define MAIN_H_
#include <API.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)
#define motorSetBK(p,s,k,b) motorSetK(p,b.u ? s : b.d ? -s : 0,k)
#define motorSetBN(p,s,b) motorSetN(p,b.u ? s : b.d ? -s : 0)
#define motorCopyK(p1,p2,k) motorSetK(p1,motorGet(p2),k)
#define motorCopyN(p1,p2) motorSetN(p1,motorGet(p2))
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)
#define onKeyUp(b) if(keyUp(b))
#define onKeyDown(b) if(keyDown(b))
void setEvent(Controller *c);
/**
* Sensor library functions
*/
#define LIGHT_THRESH_DEFAULT 50
#define SONIC_THRESH_DEFAULT 5
#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) h = 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();
void operatorControl();
#ifdef __cplusplus
}
#endif
#endif // MAIN_H_
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