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#include <zephyr.h>
#include <main.h>
#define PI =3.14159
#include <string.h>
#ifdef LCD_PORT
#endif // LCD_PORT
#ifdef GYRO_PORT
static Gyro gyro;
static bool gyroEnabled = false;
void zGyroInit(void){
if((gyro=gyroInit(2,0))){
gyroEnabled = true;
}
}
int zGyroGet(void){
return gyroGet(gyro);
}
void zGyroReset(void){
gyroReset(gyro);
}
#endif // GYRO_PORT
/*
* A map of what's plugged into the motor ports.
* Expected declarations:
*
* DRIVEL - Left drive port
* DRIVER - Right drive port
*
*/
#define MOTOR_PORT_COUNT 10
#ifdef IME_ENABLE
#define MOTOR_IME_COUNT 7
#endif // IME_ENABLE
const char *MOTOR_PORT_MAP[MOTOR_PORT_COUNT] = {
"Left cannon",
"Right cannon",
"Misc",
"Intake",
"Intake",
"Right drive",
"Left drive",
"Lift 1",
"Lift 2",
"Rotater"
};
static unsigned int mInUse[10]={
0,0,0,0,0,0,0,0,0,0
};
#ifdef IME_ENABLE
const char *MOTOR_IME_MAP[MOTOR_IME_COUNT] = {
"Right drive",
"Left drive",
"Rotater",
"Lift 1",
"Lift 2",
"Left cannon",
"Right cannon"
};
static unsigned int imeCount = 0;
void zIMEInit(void){
imeCount = imeInitializeAll();
}
#endif // IME_ENABLE
void zMotorSet(const char *motor,int speed,unsigned int id){
for(unsigned char i=0;i<MOTOR_PORT_COUNT;i++){
if(!strcmp(MOTOR_PORT_MAP[i],motor) && mInUse[i] == id){
if(speed > 127)speed = 127;
if(speed < -127)speed = -127;
motorSet(i+1,speed);
//return;
}
}
}
char zMotorGet(const char *motor){
for(unsigned char i=0;i<MOTOR_PORT_COUNT;i++){
if(!strcmp(MOTOR_PORT_MAP[i],motor)){
return motorGet(i+1);
}
}
return 0;
}
void zMotorTake(const char *motor,unsigned int id){
for(unsigned char i=0;i<MOTOR_PORT_COUNT;i++){
if(!strcmp(MOTOR_PORT_MAP[i],motor)){
mInUse[i] = id;
}
}
}
void zMotorReturn(const char *motor){
for(unsigned char i=0;i<MOTOR_PORT_COUNT;i++){
if(!strcmp(MOTOR_PORT_MAP[i],motor)){
mInUse[i] = 0;
}
}
}
#ifdef IME_ENABLE
int zMotorIMEGet(const char *motor){
int IMEValue = 0;
for(unsigned char i=0;i<imeCount;i++){
if(!strcmp(MOTOR_IME_MAP[i],motor)){
imeGet(i,&IMEValue);
break;
}
}
return IMEValue;
}
int zMotorIMEGetVelocity(const char *motor){
int IMEValue = 0;
for(unsigned char i=0;i<imeCount;i++){
if(!strcmp(MOTOR_IME_MAP[i],motor)){
imeGetVelocity(i,&IMEValue);
break;
}
}
return IMEValue;
}
bool zMotorIMEReset(const char *motor){
for(unsigned char i=0;i<imeCount;i++){
if(!strcmp(MOTOR_IME_MAP[i],motor)){
return imeReset(i);
}
}
return false;
}
#endif // IME_ENABLE
void zDriveUpdate(void){
#ifdef DRIVE_NORMAL
char y = joystickGetAnalog(DRIVE_JOY,DRIVE_NORMAL);
char x = joystickGetAnalog(DRIVE_JOY,4);
APPLY_THRESH(x,DRIVE_THRESHOLD);
APPLY_THRESH(y,DRIVE_THRESHOLD);
zMotorSet("Left drive" ,y+x,0);
zMotorSet("Right drive",y-x,0);
#else
char l,r;
l = joystickGetAnalog(DRIVE_JOY,DRIVE_TANK_LEFT);
r = joystickGetAnalog(DRIVE_JOY,DRIVE_TANK_RIGHT);
APPLY_THRESH(l,DRIVE_THRESHOLD);
APPLY_THRESH(r,DRIVE_THRESHOLD);
zMotorSet("Left drive",l,0);
zMotorSet("Right drive",r,0);
#endif // DRIVE_NORMAL
}
char zGetDigitalMotorSpeed(unsigned char joy,unsigned char btn_group,unsigned char btn_pos,unsigned char btn_neg,char speed){
return joystickGetDigital(joy,btn_group,btn_pos) ? speed :
joystickGetDigital(joy,btn_group,btn_neg) ? -speed : 0;
}
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