From 91b2508dc92a97802353bd2e96f2849c835f0b2a Mon Sep 17 00:00:00 2001
From: masterm <devnull@localhost>
Date: Thu, 15 Feb 2007 20:33:05 +0000
Subject: +++ many updates to sources

---
 source/Concept/Framework/engine.h | 102 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 102 insertions(+)

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

diff --git a/source/Concept/Framework/engine.h b/source/Concept/Framework/engine.h
index 2736a7a..6454a32 100644
--- a/source/Concept/Framework/engine.h
+++ b/source/Concept/Framework/engine.h
@@ -9,20 +9,105 @@ public:
 	Engine()
 	{
 		this->enabled = false;
+		this->curSpeed = 0;
 		this->parent = NULL;
+		this->moduleId = 0;
+		this->hardwarePort = NULL;
+		this->pwmSpeed = NULL;
+		this->pwmPort = NULL;
+		this->pinForward = 0;
+		this->pinReverse = 0;
+		this->pinPwm = 0;
 	}
 
 	Engine(uint32 engineId)
 	{
 		this->enabled = false;
+		this->curSpeed = 0;
 		this->parent = NULL;
 		this->moduleId = engineId;
+		this->pwmSpeed = NULL;
+		this->pwmPort = NULL;
+		this->pinPwm = 0;
+		
+		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_RIGHT:
+				this->hardwarePort = &PORTB;
+				this->pwmSpeed = &OCR1B;
+				this->pinForward = (1 << 2);
+				this->pinReverse = (1 << 3);
+				break;
+			case IO_ENGINE_DRIVE_BACK:
+				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;
+				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;
+	//Dribbler only
+	volatile uint8* pwmPort;
+	uint8 pinPwm;
+
+	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()
 	{
@@ -32,6 +117,21 @@ public:
 	void SetSpeed(float newSpeed)
 	{
 		curSpeed = newSpeed;
+
+		if(pwmSpeed)
+		{
+			*pwmSpeed = uint16(abs(newSpeed / SPEED_PER_PWM));
+		}
+		else if(pwmPort && uint16(abs(newSpeed / SPEED_PER_PWM)))
+		{
+			*pwmPort |= pinPwm;
+		}
+		else if(pwmPort)
+		{
+			*pwmPort &= ~pinPwn;
+		}
+
+		UpdateDirection();
 	}
 
 	bool GetEnabled()
@@ -42,6 +142,8 @@ public:
 	void SetEnabled(bool newStatus)
 	{
 		enabled = newStatus;
+
+		UpdateDirection();
 	}
 };
 
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