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Vision2009
BaeUtilities.h
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/********************************************************************************
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* Project : FIRST Motor Controller
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* File Name : BaeUtilities.h
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* Contributors : JDG, ELF
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* Creation Date : August 12, 2008
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* Revision History : Source code & revision history maintained at sourceforge.WPI.edu
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* File Description : Globally defined values for utilities
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*/
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. */
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/* Must be accompanied by the BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef __BAEUTILITIES_H__
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#define __BAEUTILITIES_H__
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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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enum
dprint_type {DEBUG_TYPE, INFO_TYPE, ERROR_TYPE, CRITICAL_TYPE, FATAL_TYPE};
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typedef
enum
DebugOutputType_enum {
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DEBUG_OFF, DEBUG_MOSTLY_OFF, DEBUG_SCREEN_ONLY, DEBUG_FILE_ONLY, 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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#endif
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Servo
Definition:
Servo.h:19
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