1 files changed, 118 insertions, 0 deletions
diff --git a/source/Concept/Framework/dribbler.h b/source/Concept/Framework/dribbler.h
new file mode 100644
index 0000000..64c045a
--- /dev/null
+++ b/source/Concept/Framework/dribbler.h
@@ -0,0 +1,118 @@
+#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