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/**
* @file config.h
* @brief Defines motor and digital port configurations.
*/
#ifndef CONFIG_H_
#define CONFIG_H_
/**
* Creates a default entry in the digital port configuration.
* @param pin the pin to configure
* @return the entry for the configuration
*/
constexpr auto digiDefault(const auto& pin)
{
return vexDigiCfg { pin, kVexSensorDigitalInput, kVexConfigInput, 0 };
}
/**
* Creates a default entry in the motor port configuration.
* @param port the port to configure
* @param type the type of the motor
* @return the entry for the configuration
*/
constexpr auto motorDefault(const auto& port, const tVexMotorType& type = kVexMotorUndefined)
{
return vexMotorCfg { port, type, kVexMotorNormal, kVexSensorNone, 0 };
}
/** The left drive motor's port. */
constexpr auto mDriveLeft = kVexMotor_5;
/** The right drive motor's port. */
constexpr auto mDriveRight = kVexMotor_6;
/** The lower right lift motor's port. */
constexpr auto mLiftLowRight = kVexMotor_7;
/** The upper right lift motor's port. */
constexpr auto mLiftHighRight = kVexMotor_8;
/** The lower left lift motor's port. */
constexpr auto mLiftLowLeft = kVexMotor_3;
/** The upper left lift motor's port. */
constexpr auto mLiftHighLeft = kVexMotor_4;
/** The claw motor's port. */
constexpr auto mClaw = kVexMotor_1;
/** The IME channel for the lower left lift motor. */
constexpr auto iLiftLowLeft = kImeChannel_1;
/** The IME channel for the lower right lift motor. */
constexpr auto iLiftLowRight = kImeChannel_2;
/**
* Defines the motor port configuration for the cortex.
*/
constexpr vexMotorCfg mConfig[kVexMotorNum] = {
motorDefault( mDriveLeft ),
motorDefault( mDriveRight ),
motorDefault( mClaw ),
motorDefault( mLiftHighLeft, kVexMotor393S ),
motorDefault( mLiftHighRight, kVexMotor393S ),
{ mLiftLowLeft, kVexMotor393S, kVexMotorNormal, kVexSensorIME, iLiftLowLeft },
{ mLiftLowRight, kVexMotor393S, kVexMotorNormal, kVexSensorIME, iLiftLowRight },
};
/**
* Defines the digital port configuration for the cortex.
*/
constexpr vexDigiCfg dConfig[kVexDigital_Num] = {
{ kVexDigital_1, kVexSensorQuadEncoder, kVexConfigQuadEnc1, kVexQuadEncoder_1 },
{ kVexDigital_2, kVexSensorQuadEncoder, kVexConfigQuadEnc2, kVexQuadEncoder_1 },
digiDefault(kVexDigital_3),
digiDefault(kVexDigital_4),
digiDefault(kVexDigital_5),
digiDefault(kVexDigital_6),
digiDefault(kVexDigital_7),
digiDefault(kVexDigital_8),
digiDefault(kVexDigital_9),
digiDefault(kVexDigital_10),
digiDefault(kVexDigital_11),
digiDefault(kVexDigital_12),
};
#endif // CONFIG_H_
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