This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/Vision2009/BaeUtilities.h b/azaleasource/WPILibCProgramming/trunk/WPILib/Vision2009/BaeUtilities.h
new file mode 100644
index 0000000..898c9e7
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/Vision2009/BaeUtilities.h
@@ -0,0 +1,68 @@
+/********************************************************************************
+* 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
+