root / trunk / code / projects / logic_tester / cTest.h @ 1947
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1 | 1947 | bwasserm | /* cTest.h
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2 | * C debug library file for Colony
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3 | * By Benjamin Wasserman
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4 | * Colony Project
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5 | */
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6 | |||
7 | #include <stdlib.h> |
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8 | #include <stdio.h> |
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9 | #include <math.h> |
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10 | |||
11 | |||
12 | // Types
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13 | #define int int16_t |
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14 | #define short int16_t |
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15 | |||
16 | // includes
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17 | |||
18 | // Dragonfly
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19 | #define ALL_ON 0x07FF |
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20 | |||
21 | #define dragonfly_init(which) init_debug(which)
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22 | #define get_robotid() getRobotID()
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23 | |||
24 | // Motors
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25 | #define FORWARD 1 |
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26 | #define BACKWARD 0 |
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27 | |||
28 | #define motor_l_set(d, s) printf("Motor L set to dir %u speed %u\n", d, s%255) |
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29 | #define motor_r_set(d, s) printf("Motor R set to dir %u speed %hi\n", d, s%255) |
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30 | |||
31 | // Orbs
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32 | #define RED 0xE0 |
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33 | #define ORANGE 0xE4 |
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34 | #define YELLOW 0xE8 |
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35 | #define LIME 0x68 |
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36 | #define GREEN 0x1C |
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37 | #define CYAN 0x1F |
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38 | #define BLUE 0x03 |
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39 | #define PINK 0xA6 |
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40 | #define PURPLE 0x41 |
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41 | #define MAGENTA 0xE3 |
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42 | #define WHITE 0xFE |
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43 | #define ORB_OFF 0x00 |
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44 | |||
45 | #define orb1_set_color(c) printf("Orb 1 set to color %i\n", c%255) |
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46 | #define orb2_set_color(c) printf("Orb 2 set to color %i\n", c%255) |
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47 | #define orb1_set(r, g, b) printf("Orb 1 set to color r:%i g:%i b:%i\n", r%255, g%255, b%255) |
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48 | #define orb2_set(r, g, b) printf("Orb 2 set to color r:%i g:%i b:%i\n", r%255, g%255, b%255) |
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49 | |||
50 | // Rangefinders
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51 | #define IR1 6 |
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52 | #define IR2 5 |
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53 | #define IR3 4 |
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54 | #define IR4 3 |
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55 | #define IR5 2 |
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56 | |||
57 | #define range_init() printf("Rangefinders initialized\n") |
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58 | #define range_read_distance(rf) getRangefinderVal(rf)
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59 | |||
60 | // BOM
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61 | #define BOM_ALL 0xFFFF |
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62 | #define BOM10 0 |
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63 | #define BOM15 1 |
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64 | #define RBOM 2 |
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65 | |||
66 | #define bom_init(t) printf("BOM type %c initialized\n", t) |
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67 | #define bom_refresh() printf("BOM refreshed\n") |
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68 | #define bom_on() printf("BOM is on\n") |
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69 | #define bom_off() printf("BOM is off\n") |
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70 | #define bom_get(which) getBomVal(which)
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71 | #define bom_get_max() getBomMax()
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72 | |||
73 | // Encoders
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74 | #define encoders_init() printf("Encoders initialized\n") |
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75 | |||
76 | // Buttons
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77 | #define button1_click() printf("Checked for button 1 to be clicked\n") |
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78 | #define button2_click() printf("Checked for button 2 to be clicked\n") |
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79 | |||
80 | // Wheel
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81 | #define wheel() getWheel()
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82 | |||
83 | // USB
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84 | #define usb_puts(s) printf("%s\n", s) |
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85 | #define usb_puti(i) printf("%i\n", i) |
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86 | #define usb_putc(c) printf("%c\n", c) |
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87 | |||
88 | // Buzzer
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89 | #define buzzer_chirp(t, f) printf("Buzzer played note %i for %i ms. I hate you.\n", f, t) |
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90 | |||
91 | // Wireless (old)
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92 | #define xbee_intit() printf("XBee initialized\n") |
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93 | #define wl_basic_init_default() printf("Old WL library intitalized\n") |
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94 | #define wl_set_channel(c) printf("WL channel set to %i\n", c) |
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95 | #define wl_basic_send_global_packet(n, b, l) printf("WL Sent basic packet datap: %p, length %i\n", b, l) |
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96 | #define wl_basic_do_default(l) printf("WL checked for basic packet lengthp: %p\n", l) |
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97 | |||
98 | // Wireless (new)
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99 | |||
100 | // Linefollowing
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101 | |||
102 | // Time
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103 | #define rtc_init(tc, fn) printf("RTC initialized: time: %i fn: %p\n", tc, fn) |
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104 | #define rtc_reset() printf("RTC reset\n") |
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105 | #define rtc_get() printf("RTC polled\n") |
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106 | #define delay_ms(t) printf("Delaying for %i ms\n", t) |
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107 | |||
108 | // Math |