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FRC2016-old/Robot2016/wpilib/cpp/current/include/Vision/BaeUtilities.h
Jason 6d0e75aa64 Added new Robot project using PWM drive train... Much simpler...
Signed-off-by: Jason <jason@dublinschool.org>
2016-02-09 16:23:45 -05:00

68 lines
2.1 KiB
C++

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
/* Constants */
#define LOG_DEBUG __FILE__, __FUNCTION__, __LINE__, DEBUG_TYPE
#define LOG_INFO __FILE__, __FUNCTION__, __LINE__, INFO_TYPE
#define LOG_ERROR __FILE__, __FUNCTION__, __LINE__, ERROR_TYPE
#define LOG_CRITICAL __FILE__, __FUNCTION__, __LINE__, CRITICAL_TYPE
#define LOG_FATAL __FILE__, __FUNCTION__, __LINE__, FATAL_TYPE
#define LOG_DEBUG __FILE__, __FUNCTION__, __LINE__, DEBUG_TYPE
/* Enumerated Types */
/** debug levels */
enum dprint_type {
DEBUG_TYPE,
INFO_TYPE,
ERROR_TYPE,
CRITICAL_TYPE,
FATAL_TYPE
};
/** debug output setting */
typedef enum DebugOutputType_enum {
DEBUG_OFF,
DEBUG_MOSTLY_OFF,
DEBUG_SCREEN_ONLY,
DEBUG_FILE_ONLY,
DEBUG_SCREEN_AND_FILE
} DebugOutputType;
/* Enumerated Types */
/* Utility functions */
/* debug */
void SetDebugFlag(DebugOutputType flag);
void dprintf(const char *tempString, ...); /* Variable argument list */
/* set FRC ranges for drive */
double RangeToNormalized(double pixel, int range);
/* change normalized value to any range - used for servo */
float NormalizeToRange(float normalizedValue, float minRange, float maxRange);
float NormalizeToRange(float normalizedValue);
/* system utilities */
void ShowActivity(char *fmt, ...);
double ElapsedTime(double startTime);
/* servo panning utilities */
class Servo;
double SinPosition(double *period, double sinStart);
void panInit();
void panInit(double period);
void panForTarget(Servo *panServo);
void panForTarget(Servo *panServo, double sinStart);
/* config file read utilities */
int processFile(char *inputFile, char *outputString, int lineNumber);
int emptyString(char *string);
void stripString(char *string);