Colony

/* cTest.h

 * C debug library file for Colony

 * By Benjamin Wasserman

 * Colony Project

 */

#include <stdlib.h>

#include <stdio.h>

#include <math.h>

// Types

#define int int16_t

#define short int16_t

// includes

// Dragonfly

#define ALL_ON 0x07FF

#define dragonfly_init(which) init_debug(which)

#define get_robotid() getRobotID()

// Motors

#define FORWARD 1

#define BACKWARD 0

#define motor_l_set(d, s) printf("Motor L set to dir %u speed %u\n", d, s%255)

#define motor_r_set(d, s) printf("Motor R set to dir %u speed %hi\n", d, s%255)

// Orbs

#define RED 0xE0

#define ORANGE 0xE4

#define YELLOW 0xE8

#define LIME 0x68

#define GREEN 0x1C

#define CYAN 0x1F

#define BLUE 0x03

#define PINK 0xA6

#define PURPLE 0x41

#define MAGENTA 0xE3

#define WHITE 0xFE

#define ORB_OFF 0x00

#define orb1_set_color(c) printf("Orb 1 set to color %i\n", c%255)

#define orb2_set_color(c) printf("Orb 2 set to color %i\n", c%255)

#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)

#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)

// Rangefinders

#define IR1 6

#define IR2 5

#define IR3 4

#define IR4 3

#define IR5 2

#define range_init() printf("Rangefinders initialized\n")

#define range_read_distance(rf) getRangefinderVal(rf)

// BOM

#define BOM_ALL 0xFFFF

#define BOM10 0

#define BOM15 1

#define RBOM  2

#define bom_init(t) printf("BOM type %c initialized\n", t)

#define bom_refresh() printf("BOM refreshed\n")

#define bom_on() printf("BOM is on\n")

#define bom_off() printf("BOM is off\n")

#define bom_get(which) getBomVal(which)

#define bom_get_max() getBomMax()

// Encoders

#define encoders_init() printf("Encoders initialized\n")

// Buttons

#define button1_click() printf("Checked for button 1 to be clicked\n")

#define button2_click() printf("Checked for button 2 to be clicked\n")

// Wheel

#define wheel() getWheel()

// USB

#define usb_puts(s) printf("%s\n", s)

#define usb_puti(i) printf("%i\n", i)

#define usb_putc(c) printf("%c\n", c)

// Buzzer

#define buzzer_chirp(t, f) printf("Buzzer played note %i for %i ms. I hate you.\n", f, t) 

// Wireless (old)

#define xbee_intit() printf("XBee initialized\n")

#define wl_basic_init_default() printf("Old WL library intitalized\n")

#define wl_set_channel(c) printf("WL channel set to %i\n", c)

#define wl_basic_send_global_packet(n, b, l) printf("WL Sent basic packet datap: %p, length %i\n", b, l)

#define wl_basic_do_default(l) printf("WL checked for basic packet lengthp: %p\n", l)

// Wireless (new)

// Linefollowing

// Time

#define rtc_init(tc, fn) printf("RTC initialized: time: %i fn: %p\n", tc, fn)

#define rtc_reset() printf("RTC reset\n")

#define rtc_get() printf("RTC polled\n")

#define delay_ms(t) printf("Delaying for %i ms\n", t)

// Math