10 files changed, 594 insertions, 0 deletions
diff --git a/source/Concept/Framework/modules/output/display.c b/source/Concept/Framework/modules/output/display.c
new file mode 100755
index 0000000..82fbb41
--- /dev/null
+++ b/source/Concept/Framework/modules/output/display.c
@@ -0,0 +1 @@
+#include "display.h"
diff --git a/source/Concept/Framework/modules/output/display.h b/source/Concept/Framework/modules/output/display.h
new file mode 100755
index 0000000..e221120
--- /dev/null
+++ b/source/Concept/Framework/modules/output/display.h
@@ -0,0 +1,198 @@
+#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
diff --git a/source/Concept/Framework/modules/output/dribbler.c b/source/Concept/Framework/modules/output/dribbler.c
new file mode 100755
index 0000000..20557e4
--- /dev/null
+++ b/source/Concept/Framework/modules/output/dribbler.c
@@ -0,0 +1 @@
+#include "dribbler.h"
diff --git a/source/Concept/Framework/modules/output/dribbler.h b/source/Concept/Framework/modules/output/dribbler.h
new file mode 100755
index 0000000..b11af69
--- /dev/null
+++ b/source/Concept/Framework/modules/output/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
diff --git a/source/Concept/Framework/modules/output/engine.c b/source/Concept/Framework/modules/output/engine.c
new file mode 100755
index 0000000..5c14c17
--- /dev/null
+++ b/source/Concept/Framework/modules/output/engine.c
@@ -0,0 +1 @@
+#include "engine.h"
diff --git a/source/Concept/Framework/modules/output/engine.h b/source/Concept/Framework/modules/output/engine.h
new file mode 100755
index 0000000..27b9905
--- /dev/null
+++ b/source/Concept/Framework/modules/output/engine.h
@@ -0,0 +1,124 @@
+#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
diff --git a/source/Concept/Framework/modules/output/kicker.c b/source/Concept/Framework/modules/output/kicker.c
new file mode 100755
index 0000000..6670efb
--- /dev/null
+++ b/source/Concept/Framework/modules/output/kicker.c
@@ -0,0 +1 @@
+#include "kicker.h"
diff --git a/source/Concept/Framework/modules/output/kicker.h b/source/Concept/Framework/modules/output/kicker.h
new file mode 100755
index 0000000..080666a
--- /dev/null
+++ b/source/Concept/Framework/modules/output/kicker.h
@@ -0,0 +1,84 @@
+#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
diff --git a/source/Concept/Framework/modules/output/led.c b/source/Concept/Framework/modules/output/led.c
new file mode 100755
index 0000000..687b2db
--- /dev/null
+++ b/source/Concept/Framework/modules/output/led.c
@@ -0,0 +1 @@
+#include "led.h"
diff --git a/source/Concept/Framework/modules/output/led.h b/source/Concept/Framework/modules/output/led.h
new file mode 100755
index 0000000..08e7466
--- /dev/null
+++ b/source/Concept/Framework/modules/output/led.h
@@ -0,0 +1,65 @@
+#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