diff options
Diffstat (limited to 'vexuser.cpp')
| -rw-r--r-- | vexuser.cpp | 207 |
1 files changed, 0 insertions, 207 deletions
diff --git a/vexuser.cpp b/vexuser.cpp deleted file mode 100644 index 8bd3088..0000000 --- a/vexuser.cpp +++ /dev/null @@ -1,207 +0,0 @@ -#include <unistd.h>
-#include <array>
-
-#include "ch.h" // needs for all ChibiOS programs
-#include "hal.h" // hardware abstraction layer header
-#include "vex.h" // vex library header
-
-#include <motor.h>
-#include <control.h>
-
-//static WORKING_AREA(waVexIME, 512);
-//static msg_t vexIME(void *);
-
-// 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_IME(iLiftLowRight) },
- { MOTOR_CFG_MOT(mLiftHighRight, 393T, Normal), MOTOR_CFG_IME(iLiftHighRight) },
- { MOTOR_CFG_MOT(mLiftLowLeft, 393T, Normal), MOTOR_CFG_IME(iLiftLowLeft) },
- { MOTOR_CFG_MOT(mLiftHighLeft, 393T, Normal), MOTOR_CFG_IME(iLiftHighLeft) },
- { 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)
-{}
-
-#define AIRCR_ADDR 0xE000ED0C
-#define VECTKEY 0x05FA
-#define SYSRESETREQ (1<<2)
-#define VECTRESET (1<<0)
-
-void softwareReset(void){
- uint32_t AIRCR = *((uint32_t *)AIRCR_ADDR);
- AIRCR = (AIRCR & 0xFFFF) | (VECTKEY << 16) | SYSRESETREQ | VECTRESET;
- *((volatile uint32_t *)0xE000ED0C) = AIRCR;
- asm("DSB");
- while(1);
-}
-
-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;
-}
-
-int doubleButton(int btnp, int btnn, int speed);
-
-msg_t vexOperator(void* arg)
-{
- Controller joyMain (1);
-
- (void)arg;
-
- vexTaskRegister("operator");
-
- //chThdCreateStatic(waVexIME, sizeof(waVexIME), NORMALPRIO - 1, vexIME, nullptr);
-
- while(!chThdShouldTerminate()) {
-
- // control update
- joyMain.update();
-
- // drive motors
- int dx = joyMain->Ch4, dy = -joyMain->Ch3;
- vexMotorSet(mDriveFrontLeft, dy - dx);
- vexMotorSet(mDriveFrontRight, dy + dx);
- vexMotorSet(mDriveBackLeft, dy - dx);
- vexMotorSet(mDriveBackRight, dy + dx);
-
- // lift motors
-#ifndef NEW_LIFT
- int ly = joyMain->Ch2;
- vexMotorSet(mLiftLowRight, ly);
- vexMotorSet(mLiftHighRight, ly);
- vexMotorSet(mLiftLowLeft, ly);
- vexMotorSet(mLiftHighLeft, ly);
-#else
- if (joyMain->Btn8U)
- motorCountInc();
- else if (joyMain->Btn7D)
- motorCountDec();
-#endif // NEW_LIFT
-
- // lift thingy
- vexMotorSet(mPickupThingy, doubleButton(joyMain->Btn5U, joyMain->Btn5D, 64));
-
- // claw thingy
- vexMotorSet(mClawThingy, doubleButton(joyMain->Btn6U, joyMain->Btn6D, 127));
-
- if (joyMain->Btn8R)
- softwareReset();
-
- vexSleep(25);
- }
-
- return (msg_t)0;
-}
-
-
-int doubleButton(int btnp, int btnn, int speed)
-{
- return (btnp ? speed : (btnn ? -speed : 0));
-}
-
-extern "C" {
- void _exit(int code) {
- (void)code;
-
- vexLcdPrintf(0, 0, "PANIC: exit(%d)", code);
- vexLcdPrintf(0, 1, "Halting...");
-
- while(1);
- }
- void _kill(pid_t pid) {
- (void)pid;
- // no way to kill here
- }
- pid_t _getpid(void) {
- // no pids here
- return 0;
- }
-}
-
-/*using CountTuple = std::tuple<tVexMotor, tVexImeChannels, int32_t>;
-
-static std::array<CountTuple, 4> MotorCounts = {
- std::make_tuple(mLiftLowLeft, iLiftLowLeft, 0),
- std::make_tuple(mLiftHighLeft, iLiftHighLeft, 0),
- std::make_tuple(mLiftLowRight, iLiftLowRight, 0),
- std::make_tuple(mLiftHighRight, iLiftHighRight, 0)
-};
-
-void
-motorCountInc(void)
-{
- for (auto &c : MotorCounts)
- std::get<2>(c) += 10;
-}
-
-void
-motorCountDec(void)
-{
- for (auto &c : MotorCounts)
- std::get<2>(c) -= 10;
-}
-
-static msg_t
-vexIME(void *arg)
-{
- (void)arg;
-
- vexTaskRegister("uime");
-
- while (1) {
- for (auto &c : MotorCounts) {
- auto count = vexImeGetPtr(std::get<1>(c))->count;
- auto comp = std::get<2>(c);
-
- if (count > comp)
- vexMotorSet(vexMotorGet(std::get<0>(c)) - 2);
- else if(count < comp)
- vexMotorSet(vexMotorGet(std::get<0>(c)) + 2);
- }
-
- vexSleep(100);
- }
-}*/
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