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