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WPILib 2012
WPILibRoboticsLibraryforFRC
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Vision2009/BaeUtilities.h
00001 /******************************************************************************** 00002 * Project : FIRST Motor Controller 00003 * File Name : BaeUtilities.h 00004 * Contributors : JDG, ELF 00005 * Creation Date : August 12, 2008 00006 * Revision History : Source code & revision history maintained at sourceforge.WPI.edu 00007 * File Description : Globally defined values for utilities 00008 */ 00009 /*----------------------------------------------------------------------------*/ 00010 /* Copyright (c) FIRST 2008. All Rights Reserved. */ 00011 /* Open Source Software - may be modified and shared by FRC teams. */ 00012 /* Must be accompanied by the BSD license file in $(WIND_BASE)/WPILib. */ 00013 /*----------------------------------------------------------------------------*/ 00014 00015 #ifndef __BAEUTILITIES_H__ 00016 #define __BAEUTILITIES_H__ 00017 00018 /* Constants */ 00019 #define LOG_DEBUG __FILE__,__FUNCTION__,__LINE__,DEBUG_TYPE 00020 #define LOG_INFO __FILE__,__FUNCTION__,__LINE__,INFO_TYPE 00021 #define LOG_ERROR __FILE__,__FUNCTION__,__LINE__,ERROR_TYPE 00022 #define LOG_CRITICAL __FILE__,__FUNCTION__,__LINE__,CRITICAL_TYPE 00023 #define LOG_FATAL __FILE__,__FUNCTION__,__LINE__,FATAL_TYPE 00024 #define LOG_DEBUG __FILE__,__FUNCTION__,__LINE__,DEBUG_TYPE 00025 00026 /* Enumerated Types */ 00027 00029 enum dprint_type {DEBUG_TYPE, INFO_TYPE, ERROR_TYPE, CRITICAL_TYPE, FATAL_TYPE}; 00030 00032 typedef enum DebugOutputType_enum { 00033 DEBUG_OFF, DEBUG_MOSTLY_OFF, DEBUG_SCREEN_ONLY, DEBUG_FILE_ONLY, DEBUG_SCREEN_AND_FILE 00034 }DebugOutputType; 00035 00036 /* Enumerated Types */ 00037 00038 /* Utility functions */ 00039 00040 /* debug */ 00041 void SetDebugFlag ( DebugOutputType flag ); 00042 void dprintf ( char * tempString, ... ); /* Variable argument list */ 00043 00044 /* set FRC ranges for drive */ 00045 double RangeToNormalized(double pixel, int range); 00046 /* change normalized value to any range - used for servo */ 00047 float NormalizeToRange(float normalizedValue, float minRange, float maxRange); 00048 float NormalizeToRange(float normalizedValue); 00049 00050 /* system utilities */ 00051 void ShowActivity (char *fmt, ...); 00052 double ElapsedTime (double startTime); 00053 00054 /* servo panning utilities */ 00055 class Servo; 00056 double SinPosition (double *period, double sinStart); 00057 void panInit(); 00058 void panInit(double period); 00059 void panForTarget(Servo *panServo); 00060 void panForTarget(Servo *panServo, double sinStart); 00061 00062 /* config file read utilities */ 00063 int processFile(char *inputFile, char *outputString, int lineNumber); 00064 int emptyString(char *string); 00065 void stripString(char *string); 00066 00067 #endif 00068
