| /******************************************************************************** | |
| * Project : FIRST Motor Controller | |
| * File Name : BaeUtilities.h | |
| * Contributors : JDG, ELF | |
| * Creation Date : August 12, 2008 | |
| * Revision History : Source code & revision history maintained at sourceforge.WPI.edu | |
| * File Description : Globally defined values for utilities | |
| */ | |
| /*----------------------------------------------------------------------------*/ | |
| /* Copyright (c) FIRST 2008. All Rights Reserved. */ | |
| /* Open Source Software - may be modified and shared by FRC teams. */ | |
| /* Must be accompanied by the BSD license file in $(WIND_BASE)/WPILib. */ | |
| /*----------------------------------------------------------------------------*/ | |
| #ifndef __BAEUTILITIES_H__ | |
| #define __BAEUTILITIES_H__ | |
| /* 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 ( 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); | |
| #endif | |