From 92235fb259b0ebdfc99859c2c95fe1f8c163f411 Mon Sep 17 00:00:00 2001
From: Clyne Sullivan <tullivan99@gmail.com>
Date: Tue, 8 Nov 2016 20:09:05 -0500
Subject: trying out distortos

---
 vexuser.cpp | 207 ------------------------------------------------------------
 1 file changed, 207 deletions(-)
 delete mode 100644 vexuser.cpp

(limited to 'vexuser.cpp')

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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