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#include <zephyr.h>
#include <main.h>
#define PI =3.14159
#include <string.h>
#ifdef LCD_PORT
static void (*_lcdUpdateFunc)(void *);
static char lcdBuffer[2][16];
void zLCDHandler(void *unused_param){
while(1){
lcdSetText(LCD_PORT,1,lcdBuffer[0]);
lcdSetText(LCD_PORT,2,lcdBuffer[1]);
if(_lcdUpdateFunc)
_lcdUpdateFunc(unused_param);
delay(LCD_RATE);
}
}
void zLCDInit(void){
lcdInit(LCD_PORT);
lcdClear(LCD_PORT);
lcdSetBacklight(LCD_PORT,true);
}
void zLCDStart(void){
taskCreate(zLCDHandler,
TASK_DEFAULT_STACK_SIZE,
NULL,
TASK_PRIORITY_DEFAULT
);
memset(&lcdBuffer,0,32);
strcpy(lcdBuffer[0]," libZEPHYR v1.0 ");
}
void zLCDWrite(unsigned char line,const char *text,...){
va_list args;
char buf[16];
va_start(args,text);
sprintf(buf,text,args);
va_end(args);
strcpy(lcdBuffer[line-1],buf);
}
void zLCDSetUpdateFunc(void (*func)(void *)){
_lcdUpdateFunc = func;
}
void zLCDClearUpdateFunc(void){
_lcdUpdateFunc = 0;
}
#endif // LCD_PORT
#ifdef GYRO_PORT
static Gyro gyro;
static bool gyroEnabled = false;
void zGyroInit(void){
if((gyro=gyroInit(2,0))){
gyroEnabled = true;
}
}
#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",
"Port 4",
"Intake",
"Right drive",
"Left drive",
"Lift 1",
"Lift 2",
"Rotater"
};
#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,char speed){
for(unsigned char i=0;i<MOTOR_PORT_COUNT;i++){
if(!strcmp(MOTOR_PORT_MAP[i],motor)){
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;
}
#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;
}
#endif // IME_ENABLE
void zDriveUpdate(void){
#ifdef DRIVE_NORMAL
char s = joystickGetAnalog(DRIVE_JOY,DRIVE_NORMAL);
APPLY_THRESH(s,DRIVE_THRESHOLD);
motorSet(DRIVEL,s);
motorSet(DRIVER,s);
#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);
zMotorSet("Right drive",r);
#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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