Codestuff

source/Concept/Framework/modules/executor/aktuator.c

@@ -0,0 +1,11 @@
+#include "aktuator.h"
+
+//-----------------------------------------------------------------------------
+void Aktuator::Kick() 
+{
+	(parent->GetModule<Kicker>(IO_KICKER_MAIN))->SetEnabled(true);//aktivate kicker
+	(parent->GetModule<Dribbler>(IO_DRIBBLER_MAIN))->SetSpeed(-1);//aktivate dribbler reverse
+	msleep(10);//wait 100us
+	(parent->GetModule<Kicker>(IO_KICKER_MAIN))->SetEnabled(false);//deaktivate kicker
+	(parent->GetModule<Dribbler>(IO_DRIBBLER_MAIN))->SetSpeed(1);//deaktivate dribbler reverse			
+}

source/Concept/Framework/modules/executor/aktuator.h

@@ -0,0 +1,27 @@
+#ifndef _AKTUATOR_H
+#define _AKTUATOR_H
+
+#include "../../stdafx.h"
+
+class Aktuator : public IO_Module
+{
+public:
+	Aktuator()
+	{
+		this->parent = NULL;
+		this->moduleId = 0;
+	}
+
+	Aktuator(uint32 aktuatorId)
+	{
+		this->parent = NULL;
+		this->moduleId = aktuatorId;
+	}
+
+protected:
+
+public:
+	void Kick();
+};
+
+#endif

source/Concept/Framework/modules/logic/logic.c

@@ -0,0 +1,43 @@
+#include "logic.h"
+
+//-----------------------------------------------------------------------------
+void Logic::OnBallOwned()
+{
+	Wireless* ourWireless = parent->GetModule<Wireless>(IO_WIRELESS_MAIN);
+	
+	//ourWireless->Send(WIRELESS_CODE);
+	//ourWireless->Send();
+}
+
+//-----------------------------------------------------------------------------
+void Logic::OnBallLost()
+{
+	Wireless* ourWireless = parent->GetModule<Wireless>(IO_WIRELESS_MAIN);
+	
+	//ourWireless->Send(WIRELESS_CODE);
+	//ourWireless->Send();
+}
+
+//-----------------------------------------------------------------------------
+void Logic::Update()
+{
+	// We want to use a navigator
+	Navigator* ourNavigator = parent->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
+
+	// is Keeper?
+	if(isKeeper) {
+		// turn around al little bit...
+		if((status == STATUS_KEEPER_TURN_LEFT && ourNavigator->AngleReached()) ||
+			 (status != STATUS_KEEPER_TURN_LEFT && status != STATUS_KEEPER_TURN_RIGHT)) {
+			status = STATUS_KEEPER_TURN_RIGHT;
+			ourNavigator->RotateTo(315,200);
+		}
+		else if(status == STATUS_KEEPER_TURN_RIGHT && ourNavigator->AngleReached()) {
+			status = STATUS_KEEPER_TURN_LEFT;
+			ourNavigator->RotateTo(45, 200);
+		}
+	}
+	else { // is Player?
+		
+	}
+}

source/Concept/Framework/modules/logic/logic.h

@@ -0,0 +1,58 @@
+#ifndef _LOGIC_H
+#define _LOGIC_H
+
+#include "../../stdafx.h"
+
+#define STATUS_KEEPER_TURN_RIGHT 1
+#define STATUS_KEEPER_TURN_LEFT 2
+
+class Logic : public IO_Module
+{
+public:
+	Logic()
+	{
+		this->parent = NULL;
+		this->moduleId = 0;
+		this->isKeeper = false;
+		this->status = 0;
+	}
+
+	Logic(uint32 logicId)
+	{
+		this->parent = NULL;
+		this->moduleId = logicId;
+		this->isKeeper = false;
+		this->status = 0;
+	}
+
+protected:
+	bool isKeeper;
+	uint8 status;
+
+	void OnBallOwned();
+	void OnBallLost();
+
+public:
+	void Update();
+
+	bool IsKeeper()
+	{
+		return isKeeper;
+	}
+
+	bool IsAttacker()
+	{
+		return !isKeeper;
+	}
+
+	void SetKeeper(bool newStatus) {
+		this->isKeeper = newStatus;
+	}
+
+	bool HasBall()
+	{
+		//fill me!
+	}
+};
+
+#endif

source/Concept/Framework/modules/wireless.c

@@ -0,0 +1 @@
+#include "wireless.h"

source/Concept/Framework/modules/wireless.h

@@ -0,0 +1,58 @@
+#ifndef _WIRELESS_H
+#define _WIRELESS_H
+
+#include "../../stdafx.h"
+
+class Wireless : public IO_Module
+{
+public:
+	Wireless()
+	{
+		this->parent = NULL;
+		this->moduleId = 0;
+	}
+
+	Wireless(uint32 wirelessId)
+	{
+		this->parent = NULL;
+		this->moduleId = wirelessId;
+
+		switch(wirelessId)
+		{
+			case IO_WIRELESS_MAIN:
+				uart_init(51); // 19200 Baud at 16MHz Atmel
+				break;
+			default:
+				break;
+		}
+	}
+
+protected:
+	uint8 transmitPower;
+public:
+	void SetTransmitPower(uint8 newTransmitPower)
+	{
+		this->transmitPower = newTransmitPower;
+		
+		char buffer[12];
+		ltoa(this->transmitPower-1, buffer, 10);
+		uart_puts(buffer);
+	}
+
+	void Send(char* message)
+	{
+		uart_puts(message);
+	}
+
+	void Send(uint8 message)
+	{
+		uart_putc(message);
+	}
+
+	int16 Recieve()
+	{
+		return uart_getc();
+	}
+};
+
+#endif