rc2007-soccer/source/Concept/Framework/modules/output/engine.h

#ifndef _ENGINE_H
#define _ENGINE_H

#include "../../stdafx.h"

class Engine : public IO_Module
{
public:
	Engine()
	{
		this->enabled = false;
		this->curSpeed = 0;
		this->parent = NULL;
		this->moduleId = 0;
		this->hardwarePort = NULL;
		this->pwmSpeed = NULL;
		this->pinForward = 0;
		this->pinReverse = 0;
	}

	Engine(uint32 engineId)
	{
		this->enabled = false;
		this->curSpeed = 0;
		this->parent = NULL;
		this->moduleId = engineId;
		
		switch(engineId)
		{
			case IO_ENGINE_DRIVE_LEFT:
				this->hardwarePort = &PORTB;
				this->pwmSpeed = &OCR1A;
				this->pinForward = (1 << 0);
				this->pinReverse = (1 << 1);
				break;
			case IO_ENGINE_DRIVE_BACK:
				this->hardwarePort = &PORTB;
				this->pwmSpeed = &OCR1B;
				this->pinForward = (1 << 2);
				this->pinReverse = (1 << 3);
				break;
			case IO_ENGINE_DRIVE_RIGHT:
				this->hardwarePort = &PORTD;
				this->pwmSpeed = &OCR3A;
				this->pinForward = (1 << 5);
				this->pinReverse = (1 << 4);
				break;
			default:
				this->hardwarePort = NULL;
				this->pwmSpeed = NULL;
				this->pinForward = 0;
				this->pinReverse = 0;
				break;
		}

		*this->pwmSpeed = 0;
	}

protected:
	bool enabled;
	int16 curSpeed;

	//Hardware
	volatile uint8* hardwarePort;
	volatile uint16* pwmSpeed;
	uint8 pinForward;
	uint8 pinReverse;

	void UpdateDirection()
	{
		if(enabled)
		{
			if(curSpeed > 0)
			{
				*hardwarePort |= pinForward;
				*hardwarePort &= ~pinReverse;
			}
			else if(curSpeed < 0)
			{
				*hardwarePort |= pinReverse;
				*hardwarePort &= ~pinForward;
			}
			else
			{
				*hardwarePort |= pinForward;
				*hardwarePort |= pinReverse;
			}
		}
		else
		{
			*hardwarePort &= ~pinForward;
			*hardwarePort &= ~pinReverse;
		}
	}

public:
	int16 GetSpeed()
	{
		return curSpeed;
	}

	void SetSpeed(int16 newSpeed)
	{
		curSpeed = newSpeed;

		uint16 pwm = abs(newSpeed);
		if(pwm > 255) pwm = 255;

		*pwmSpeed = pwm;

		UpdateDirection();
	}

	bool GetEnabled()
	{
		return enabled;
	}

	void SetEnabled(bool newStatus)
	{
		enabled = newStatus;

		UpdateDirection();
	}
};

#endif