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#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->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()
{
return curSpeed;
}
void SetSpeed(float newSpeed)
{
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;
}
UpdateDirection();
}
bool GetEnabled()
{
return enabled;
}
void SetEnabled(bool newStatus)
{
enabled = newStatus;
UpdateDirection();
}
};
#endif
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