diff options
Diffstat (limited to 'vexuser.c')
| -rw-r--r-- | vexuser.c | 134 |
1 files changed, 0 insertions, 134 deletions
diff --git a/vexuser.c b/vexuser.c deleted file mode 100644 index 1088fe0..0000000 --- a/vexuser.c +++ /dev/null @@ -1,134 +0,0 @@ -#include <stdlib.h>
-#include <math.h>
-
-#define DIGI_CFG_DIGI_OUT(p) { kVexDigital_##p, kVexSensorDigitalOutput, kVexConfigOutput, 0 }
-#define DIGI_CFG_DIGI_IN(p) { kVexDigital_##p, kVexSensorDigitalInput, kVexConfigInput, 0 }
-
-#define MOTOR_CFG_MOT(p, t, r) p, kVexMotor##t, kVexMotor##r
-#define MOTOR_CFG_NOIME kVexSensorNone, 0
-#define MOTOR_CFG_IME(c) kVexSensorIME, kImeChannel_##c
-
-#include "ch.h" // needs for all ChibiOS programs
-#include "hal.h" // hardware abstraction layer header
-#include "vex.h" // vex library header
-
-// motor ports
-#define mDriveFrontLeft kVexMotor_6
-#define mDriveFrontRight kVexMotor_9
-#define mDriveBackLeft kVexMotor_7
-#define mDriveBackRight kVexMotor_8
-#define mLiftLowRight kVexMotor_5
-#define mLiftHighRight kVexMotor_4
-#define mLiftLowLeft kVexMotor_3
-#define mLiftHighLeft kVexMotor_2
-#define mPickupThingy kVexMotor_10
-#define mClawThingy kVexMotor_1
-
-// Digi IO configuration
-static vexDigiCfg dConfig[] = {
-};
-
-static vexMotorCfg mConfig[] = {
- { MOTOR_CFG_MOT(mClawThingy, 393T, Normal), MOTOR_CFG_NOIME },
- { MOTOR_CFG_MOT(mDriveFrontLeft, 393T, Normal), MOTOR_CFG_NOIME },
- { MOTOR_CFG_MOT(mDriveFrontRight, 393T, Reversed), MOTOR_CFG_NOIME },
- { MOTOR_CFG_MOT(mDriveBackLeft, 393T, Reversed), MOTOR_CFG_NOIME },
- { MOTOR_CFG_MOT(mDriveBackRight, 393T, Normal), MOTOR_CFG_NOIME },
- { MOTOR_CFG_MOT(mLiftLowRight, 393T, Normal), MOTOR_CFG_NOIME },
- { MOTOR_CFG_MOT(mLiftHighRight, 393T, Normal), MOTOR_CFG_NOIME },
- { MOTOR_CFG_MOT(mLiftLowLeft, 393T, Normal), MOTOR_CFG_NOIME },
- { MOTOR_CFG_MOT(mLiftHighLeft, 393T, Normal), MOTOR_CFG_NOIME },
- { MOTOR_CFG_MOT(mPickupThingy, 393T, Normal), MOTOR_CFG_NOIME }
-};
-
-void vexUserSetup(void)
-{
- vexDigitalConfigure(dConfig, DIG_CONFIG_SIZE(dConfig));
- vexMotorConfigure(mConfig, MOT_CONFIG_SIZE(mConfig));
-}
-
-void vexUserInit(void)
-{}
-
-msg_t vexAutonomous(void* arg)
-{
- (void)arg;
-
- vexTaskRegister("auton");
-
- vexMotorSet(mClawThingy, -127);
- vexMotorSet(mPickupThingy, -64);
- vexSleep(300);
- vexMotorSet(mClawThingy, 0);
- vexMotorSet(mPickupThingy, 0);
-
- vexMotorSet(mDriveFrontLeft, 127);
- vexMotorSet(mDriveFrontRight, 127);
- vexMotorSet(mDriveBackLeft, 127);
- vexMotorSet(mDriveBackRight, 127);
- vexSleep(3000);
- vexMotorSet(mDriveFrontLeft, -30);
- vexMotorSet(mDriveFrontRight, -30);
- vexMotorSet(mDriveBackLeft, -30);
- vexMotorSet(mDriveBackRight, -30);
- vexSleep(1000);
- vexMotorSet(mDriveFrontLeft, 0);
- vexMotorSet(mDriveFrontRight, 0);
- vexMotorSet(mDriveBackLeft, 0);
- vexMotorSet(mDriveBackRight, 0);
-
- while(1)
- vexSleep(25);
-
- return (msg_t)0;
-}
-
-typedef struct {
- int x, y;
-} __attribute__ ((packed)) joy_t;
-
-int doubleButton(int btnp, int btnn, int speed);
-
-msg_t vexOperator(void* arg)
-{
- static joy_t joyLeft, joyRight;
-
- (void)arg;
-
- vexTaskRegister("operator");
-
- while(!chThdShouldTerminate()) {
-
- // control update
- joyLeft = (joy_t) {vexControllerGet(Ch4), vexControllerGet(Ch3)};
- joyRight = (joy_t) {vexControllerGet(Ch1), vexControllerGet(Ch2)};
-
- // drive motors
- vexMotorSet(mDriveFrontLeft, joyLeft.y + joyLeft.x);
- vexMotorSet(mDriveFrontRight, joyLeft.y - joyLeft.x);
- vexMotorSet(mDriveBackLeft, joyLeft.y + joyLeft.x);
- vexMotorSet(mDriveBackRight, joyLeft.y - joyLeft.x);
-
- // lift motors
- vexMotorSet(mLiftLowRight, joyRight.y);
- vexMotorSet(mLiftHighRight, joyRight.y);
- vexMotorSet(mLiftLowLeft, joyRight.y);
- vexMotorSet(mLiftHighLeft, joyRight.y);
-
- // lift thingy
- vexMotorSet(mPickupThingy, doubleButton(Btn5U, Btn5D, 64));
-
- // claw thingy
- vexMotorSet(mClawThingy, doubleButton(Btn6U, Btn6D, 127));
-
- vexSleep(25);
- }
-
- return (msg_t)0;
-}
-
-
-int doubleButton(int btnp, int btnn, int speed)
-{
- return (vexControllerGet(btnp) ? speed : (vexControllerGet(btnn) ? -speed : 0));
-}
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