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+++ Additional Codework

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This commit is contained in:
sicarius 2007-02-18 00:14:00 +00:00
parent 803027cbb4
commit 3c3c628b61
38 changed files with 1645 additions and 28 deletions
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1
source/Concept/Framework/modules/output/display.c Executable file
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#include "display.h"

198
source/Concept/Framework/modules/output/display.h Executable file
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#ifndef _DISPLAY_H
#define _DISPLAY_H
#include "../../stdafx.h"
class Display : public IO_Module
{
public:
Display()
{
this->parent = NULL;
this->moduleId = 0;
this->cursorVisible = false;
this->illuminationEnabled = true;
this->commandClear = 0;
this->commandReturnCursor = 0;
this->commandNewLine = 0;
this->commandSetting = 0;
this->settingCursorVisible = 0;
this->settingIllumination = 0;
this->settingCursorPosition = 0;
}
Display(uint32 displayId)
{
this->parent = NULL;
this->moduleId = displayId;
this->cursorVisible = false;
this->illuminationEnabled = true;
switch(displayId)
{
case IO_DISPLAY_MAIN:
this->commandClear = 12;
this->commandReturnCursor = 13;
this->commandNewLine = 10;
this->commandSetting = 27;
this->settingCursorVisible = 67;
this->settingIllumination = 76;
this->settingCursorPosition = 79;
msleep(100);
uart1_init(103);//9600 BAUD at 16MHz Atmel
msleep(100);
break;
default:
this->commandClear = 0;
this->commandReturnCursor = 0;
this->commandNewLine = 0;
this->commandSetting = 0;
this->settingCursorVisible = 0;
this->settingIllumination = 0;
this->settingCursorPosition = 0;
break;
}
}
protected:
bool cursorVisible;
bool illuminationEnabled;
//Commands
uint8 commandClear;
uint8 commandReturnCursor;
uint8 commandNewLine;
uint8 commandSetting;
//Settings
uint8 settingCursorVisible;
uint8 settingIllumination;
uint8 settingCursorPosition;
void SendCommand(uint8 newCommand)
{
switch(moduleId)
{
case IO_DISPLAY_MAIN:
uart1_putc(newCommand);
break;
default:
break;
}
}
public:
void Print(char* newString)
{
switch(moduleId)
{
case IO_DISPLAY_MAIN:
uart1_puts(newString);
break;
default:
break;
}
}
void Print(int32 newInteger)
{
char buffer[12];
ltoa(newInteger, buffer, 10);
Print(buffer);
}
void PrintFloat(float newFloat)
{
Print((int32)(newFloat));
Print(".");
Print(abs((uint32)(newFloat - float((int32)(newFloat)) * 100000)));
}
void Print(char* newString, uint8 xPos, uint8 yPos)
{
SetCursorPosition(xPos, yPos);
Print(newString);
}
void Print(int32 newInteger, uint8 xPos, uint8 yPos)
{
SetCursorPosition(xPos, yPos);
Print(newInteger);
}
void PrintFloat(float newFloat, uint8 xPos, uint8 yPos)
{
SetCursorPosition(xPos, yPos);
PrintFloat(newFloat);
}
void Clear()
{
SendCommand(commandClear);
}
void ReturnCursor()
{
SendCommand(commandReturnCursor);
}
void NewLine()
{
SendCommand(commandNewLine);
}
bool GetCursorVisible()
{
return cursorVisible;
}
void SetCursorVisible(bool newStatus)
{
cursorVisible = newStatus;
SendCommand(commandSetting);
SendCommand(settingCursorVisible);
if(cursorVisible)
{
SendCommand(1);
}
else
{
SendCommand(0);
}
}
bool GetLightingEnabled()
{
return illuminationEnabled;
}
void SetLightingEnabled(bool newStatus)
{
illuminationEnabled = newStatus;
SendCommand(commandSetting);
SendCommand(settingIllumination);
if(illuminationEnabled)
{
SendCommand(1);
}
else
{
SendCommand(0);
}
}
void SetCursorPosition(uint8 newX, uint8 newY)
{
if(!newX || newX > 20) return;
if(!newY || newY > 4) return;
SendCommand(commandSetting);
SendCommand(settingCursorPosition);
SendCommand(newX);
SendCommand(newY);
}
};
#endif

1
source/Concept/Framework/modules/output/dribbler.c Executable file
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#include "dribbler.h"

118
source/Concept/Framework/modules/output/dribbler.h Executable file
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#ifndef _DRIBBLER_H
#define _DRIBBLER_H
#include "../../stdafx.h"
class Dribbler : public IO_Module
{
public:
Dribbler()
{
this->enabled = false;
this->curSpeed = 0;
this->parent = NULL;
this->moduleId = 0;
this->hardwarePort = NULL;
this->portPower = NULL;
this->pinForward = 0;
this->pinReverse = 0;
this->pinPower = 0;
}
Dribbler(uint32 dribblerId)
{
this->enabled = false;
this->curSpeed = 1.0f;
this->parent = NULL;
this->moduleId = dribblerId;
switch(dribblerId)
{
case IO_DRIBBLER_MAIN:
this->hardwarePort = &PORTD;
this->portPower = &PORTA;
this->pinForward = (1 << 6);
this->pinReverse = (1 << 7);
this->pinPower = (1 << 5);
break;
default:
this->hardwarePort = NULL;
this->portPower = NULL;
this->pinForward = 0;
this->pinReverse = 0;
this->pinPower = 0;
break;
}
UpdateDirection();
}
protected:
bool enabled;
float curSpeed;
//Hardware
volatile uint8* hardwarePort;
volatile uint8* portPower;
uint8 pinForward;
uint8 pinReverse;
uint8 pinPower;
void UpdateDirection()
{
if(enabled)
{
if(curSpeed > 0)
{
*hardwarePort |= pinForward;
*hardwarePort &= ~pinReverse;
}
else if(curSpeed < 0)
{
*hardwarePort |= pinReverse;
*hardwarePort &= ~pinForward;
}
else
{
*hardwarePort |= pinForward;
*hardwarePort |= pinReverse;
}
*portPower |= pinPower;
}
else
{
*hardwarePort &= ~pinForward;
*hardwarePort &= ~pinReverse;
*portPower &= ~pinPower;
}
}
public:
float GetSpeed()
{
return curSpeed;
}
void SetSpeed(float newSpeed)
{
curSpeed = newSpeed;
UpdateDirection();
}
bool GetEnabled()
{
return enabled;
}
void SetEnabled(bool newStatus)
{
enabled = newStatus;
UpdateDirection();
}
};
#endif

1
source/Concept/Framework/modules/output/engine.c Executable file
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#include "engine.h"

124
source/Concept/Framework/modules/output/engine.h Executable file
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#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;
float 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:
float GetSpeed()
{
return curSpeed;
}
void SetSpeed(float newSpeed)
{
curSpeed = newSpeed;
*pwmSpeed = (abs((int16)(newSpeed / SPEED_PER_PWM)));
UpdateDirection();
}
bool GetEnabled()
{
return enabled;
}
void SetEnabled(bool newStatus)
{
enabled = newStatus;
UpdateDirection();
}
};
#endif

1
source/Concept/Framework/modules/output/kicker.c Executable file
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#include "kicker.h"

84
source/Concept/Framework/modules/output/kicker.h Executable file
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#ifndef _KICKER_H
#define _KICKER_H
#include "../../stdafx.h"
class Kicker : public IO_Module
{
public:
Kicker()
{
this->enabled = false;
this->parent = NULL;
this->moduleId = 0;
this->portPower = NULL;
this->portForward = NULL;
this->portReverse = NULL;
this->pinPower = 0;
this->pinForward = 0;
this->pinReverse = 0;
}
Kicker(uint32 kickerId)
{
this->enabled = false;
this->parent = NULL;
this->moduleId = kickerId;
switch(kickerId)
{
case IO_KICKER_MAIN:
this->portPower = &PORTG;
this->portForward = &PORTA;
this->portReverse = &PORTE;
this->pinPower = (1 << 3);
this->pinForward = (1 << 2);
this->pinReverse = (1 << 6);
break;
default:
this->portPower = NULL;
this->portForward = NULL;
this->portReverse = NULL;
this->pinPower = 0;
this->pinForward = 0;
this->pinReverse = 0;
break;
}
*this->portForward |= this->pinForward;
*this->portReverse &= ~this->pinReverse;
}
protected:
bool enabled;
//Hardware
volatile uint8* portPower;
volatile uint8* portForward;
volatile uint8* portReverse;
uint8 pinPower;
uint8 pinForward;
uint8 pinReverse;
public:
bool GetEnabled()
{
return enabled;
}
void SetEnabled(bool newStatus)
{
enabled = newStatus;
if(enabled)
{
*portPower |= pinPower;
}
else
{
*portPower &= ~pinPower;
}
}
};
#endif

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source/Concept/Framework/modules/output/led.c Executable file
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#include "led.h"

65
source/Concept/Framework/modules/output/led.h Executable file
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#ifndef _LED_H
#define _LED_H
#include "../../stdafx.h"
class Led : public IO_Module
{
public:
Led()
{
this->enabled = false;
this->parent = NULL;
this->moduleId = 0;
this->hardwarePort = NULL;
this->pinPower = 0;
}
Led(uint32 ledId)
{
this->enabled = false;
this->parent = NULL;
this->moduleId = ledId;
switch(ledId)
{
case IO_LED_MAIN:
this->hardwarePort = &PORTB;
this->pinPower = (1 << 1);
break;
default:
this->hardwarePort = NULL;
this->pinPower = 0;
break;
}
}
protected:
bool enabled;
//Hardware
volatile uint8* hardwarePort;
uint8 pinPower;
public:
bool GetEnabled()
{
return enabled;
}
void SetEnabled(bool newStatus)
{
enabled = newStatus;
if(enabled)
{
*hardwarePort &= ~pinPower;
}
else
{
*hardwarePort |= pinPower;
}
}
};
#endif