| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /********************************************************************************
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| 2 | * Project : FIRST Motor Controller
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| 3 | * File Name : BaeUtilities.h
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| 4 | * Contributors : JDG, ELF
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| 5 | * Creation Date : August 12, 2008
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| 6 | * Revision History : Source code & revision history maintained at sourceforge.WPI.edu
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| 7 | * File Description : Globally defined values for utilities
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| 8 | */
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| 9 | /*----------------------------------------------------------------------------*/
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| 10 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 11 | /* Open Source Software - may be modified and shared by FRC teams. */
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| 12 | /* Must be accompanied by the BSD license file in $(WIND_BASE)/WPILib. */
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| 13 | /*----------------------------------------------------------------------------*/
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| 14 |
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| 15 | #ifndef __BAEUTILITIES_H__
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| 16 | #define __BAEUTILITIES_H__
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| 17 |
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| 18 | /* Constants */
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| 19 | #define LOG_DEBUG __FILE__,__FUNCTION__,__LINE__,DEBUG_TYPE
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| 20 | #define LOG_INFO __FILE__,__FUNCTION__,__LINE__,INFO_TYPE
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| 21 | #define LOG_ERROR __FILE__,__FUNCTION__,__LINE__,ERROR_TYPE
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| 22 | #define LOG_CRITICAL __FILE__,__FUNCTION__,__LINE__,CRITICAL_TYPE
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| 23 | #define LOG_FATAL __FILE__,__FUNCTION__,__LINE__,FATAL_TYPE
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| 24 | #define LOG_DEBUG __FILE__,__FUNCTION__,__LINE__,DEBUG_TYPE
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| 25 |
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| 26 | /* Enumerated Types */
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| 27 |
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| 28 | /** debug levels */
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| 29 | enum dprint_type {DEBUG_TYPE, INFO_TYPE, ERROR_TYPE, CRITICAL_TYPE, FATAL_TYPE};
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| 30 |
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| 31 | /** debug output setting */
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| 32 | typedef enum DebugOutputType_enum {
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| 33 | DEBUG_OFF, DEBUG_MOSTLY_OFF, DEBUG_SCREEN_ONLY, DEBUG_FILE_ONLY, DEBUG_SCREEN_AND_FILE
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| 34 | }DebugOutputType;
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| 35 |
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| 36 | /* Enumerated Types */
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| 37 |
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| 38 | /* Utility functions */
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| 39 |
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| 40 | /* debug */
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| 41 | void SetDebugFlag ( DebugOutputType flag );
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| 42 | void dprintf ( char * tempString, ... ); /* Variable argument list */
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| 43 |
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| 44 | /* set FRC ranges for drive */
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| 45 | double RangeToNormalized(double pixel, int range);
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| 46 | /* change normalized value to any range - used for servo */
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| 47 | float NormalizeToRange(float normalizedValue, float minRange, float maxRange);
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| 48 | float NormalizeToRange(float normalizedValue);
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| 49 |
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| 50 | /* system utilities */
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| 51 | void ShowActivity (char *fmt, ...);
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| 52 | double ElapsedTime (double startTime);
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| 53 |
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| 54 | /* servo panning utilities */
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| 55 | class Servo;
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| 56 | double SinPosition (double *period, double sinStart);
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| 57 | void panInit();
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| 58 | void panInit(double period);
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| 59 | void panForTarget(Servo *panServo);
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| 60 | void panForTarget(Servo *panServo, double sinStart);
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| 61 |
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| 62 | /* config file read utilities */
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| 63 | int processFile(char *inputFile, char *outputString, int lineNumber);
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| 64 | int emptyString(char *string);
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| 65 | void stripString(char *string);
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| 66 |
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| 67 | #endif
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| 68 |
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