From 4a2ba4b7105d168932163cbd07a062fdf2ba00e9 Mon Sep 17 00:00:00 2001
From: sicarius <devnull@localhost>
Date: Sat, 17 Feb 2007 00:35:01 +0000
Subject: +++ enhanced framework hardware interface

---
 source/Concept/Framework/engine.h | 32 +++-----------------------------
 1 file changed, 3 insertions(+), 29 deletions(-)

(limited to 'source/Concept/Framework/engine.h')

diff --git a/source/Concept/Framework/engine.h b/source/Concept/Framework/engine.h
index 2d8c409..0e7cf8c 100644
--- a/source/Concept/Framework/engine.h
+++ b/source/Concept/Framework/engine.h
@@ -14,10 +14,8 @@ public:
 		this->moduleId = 0;
 		this->hardwarePort = NULL;
 		this->pwmSpeed = NULL;
-		this->pwmPort = NULL;
 		this->pinForward = 0;
 		this->pinReverse = 0;
-		this->pinPwm = 0;
 	}
 
 	Engine(uint32 engineId)
@@ -26,9 +24,6 @@ public:
 		this->curSpeed = 0;
 		this->parent = NULL;
 		this->moduleId = engineId;
-		this->pwmSpeed = NULL;
-		this->pwmPort = NULL;
-		this->pinPwm = 0;
 		
 		switch(engineId)
 		{
@@ -38,25 +33,18 @@ public:
 				this->pinForward = (1 << 0);
 				this->pinReverse = (1 << 1);
 				break;
-			case IO_ENGINE_DRIVE_RIGHT:
+			case IO_ENGINE_DRIVE_BACK:
 				this->hardwarePort = &PORTB;
 				this->pwmSpeed = &OCR1B;
 				this->pinForward = (1 << 2);
 				this->pinReverse = (1 << 3);
 				break;
-			case IO_ENGINE_DRIVE_BACK:
+			case IO_ENGINE_DRIVE_RIGHT:
 				this->hardwarePort = &PORTD;
 				this->pwmSpeed = &OCR3A;
 				this->pinForward = (1 << 5);
 				this->pinReverse = (1 << 4);
 				break;
-			case IO_ENGINE_DRIBBLER:
-				this->hardwarePort = &PORTD;
-				this->pwmPort = &PORTA;
-				this->pinForward = (1 << 6);
-				this->pinReverse = (1 << 7);
-				this->pinPwm = (1 << 5);
-				break;
 			default:
 				this->hardwarePort = NULL;
 				this->pwmSpeed = NULL;
@@ -77,9 +65,6 @@ protected:
 	volatile uint16* pwmSpeed;
 	uint8 pinForward;
 	uint8 pinReverse;
-	//Dribbler only
-	volatile uint8* pwmPort;
-	uint8 pinPwm;
 
 	void UpdateDirection()
 	{
@@ -118,18 +103,7 @@ public:
 	{
 		curSpeed = newSpeed;
 
-		if(pwmSpeed)
-		{
-			*pwmSpeed = abs(newSpeed / SPEED_PER_PWM);
-		}
-		else if(pwmPort && (uint16)(abs(newSpeed / SPEED_PER_PWM)))
-		{
-			*pwmPort |= pinPwm;
-		}
-		else if(pwmPort)
-		{
-			*pwmPort &= ~pinPwm;
-		}
+		*pwmSpeed = abs(newSpeed / SPEED_PER_PWM);
 
 		UpdateDirection();
 	}
-- 
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