robotRepo/main.h at master · abbott221/robotRepo · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
#ifndef MAIN_H
#define MAIN_H


#include <FEHLCD.h>
#include <FEHIO.h>
#include <FEHUtility.h>
#include <FEHMotor.h>
#include <FEHServo.h>
#include <FEHWONKA.h>
#include <FEHBattery.h>


typedef enum
{
    tString = 0,
    tInt,
    tFloat,
    tDouble,
    tVoid

    //opInt,
    //opFloat,
    //opDouble,
    //opVoid
} TypeEnum;

typedef enum
{
    STRAIGHT = 0,
    LEFT,
    RIGHT,
    BACKWARDS,
    STOP
} PMode;


struct moveInfoSmall
{
    float infoX;
    float infoY;
    float infoHead;
};

struct moveInfo
{
    float theoryStartX;
    float theoryStartY;
    float theoryStartHead;

    float theoryEndX;
    float theoryEndY;
    float theoryEndHead;

    float expStartX;
    float expStartY;
    float expStartHead;

    float expEndX;
    float expEndY;
    float expEndHead;
};


#include "drive/drive.h"

#include "classes/classes.h"

#include "setup/menuSetup.h"

#include "other.h"


extern int leftPower;
extern int rightPower;

extern int tempLeftPower;
extern int tempRightPower;

extern int servoMin;
extern int servoMax;

extern float lowThresh;
extern float highThresh;

extern float optoThresh;

extern float bLineDifThresh;
extern float yLineDifThresh;
extern float leftOptoThresh;
extern float rightOptoThresh;
extern float midOptoThresh;

extern bool configLightStart;
extern bool configCourseTimer;
extern bool configDelay;
extern bool configRPS;

extern double displayRate;

extern double courseStartTime;

extern int numOfDisplays;


extern int leftPowerMode;
extern int rightPowerMode;

extern float decisionLight;

extern int currentMove;


extern FEHMotor lMotor;
extern FEHMotor rMotor;

extern ButtonBoard buttons;
extern FEHEncoder  leftEncoder;
extern FEHEncoder  rightEncoder;

extern AnalogInputPin CDS;

extern DigitalInputPin Micro1;
extern DigitalInputPin Micro2;

extern AnalogInputPin optoLeft;
extern AnalogInputPin optoMid;
extern AnalogInputPin optoRight;

extern FEHWONKA TheRPS;
extern FEHServo lolServo;
extern FEHBattery lolBattery;


void MainMenuCall();
void ConfigureMenuCall();


#endif // MAIN_H