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/* cTest.h
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* C debug library file for Colony
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* By Benjamin Wasserman
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* Colony Project
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*/
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#include <stdlib.h> |
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#include <stdio.h> |
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#include <math.h> |
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// Types
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#define int int16_t |
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#define short int16_t |
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// includes
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// Dragonfly
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#define ALL_ON 0x07FF |
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#define dragonfly_init(which) init_debug(which)
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#define get_robotid() getRobotID()
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// Motors
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#define FORWARD 1 |
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#define BACKWARD 0 |
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#define motor_l_set(d, s) printf("Motor L set to dir %u speed %u\n", d, s%255) |
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#define motor_r_set(d, s) printf("Motor R set to dir %u speed %hi\n", d, s%255) |
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// Orbs
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#define RED 0xE0 |
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#define ORANGE 0xE4 |
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#define YELLOW 0xE8 |
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#define LIME 0x68 |
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#define GREEN 0x1C |
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#define CYAN 0x1F |
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#define BLUE 0x03 |
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#define PINK 0xA6 |
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#define PURPLE 0x41 |
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#define MAGENTA 0xE3 |
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#define WHITE 0xFE |
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#define ORB_OFF 0x00 |
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#define orb1_set_color(c) printf("Orb 1 set to color %i\n", c%255) |
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#define orb2_set_color(c) printf("Orb 2 set to color %i\n", c%255) |
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#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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#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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// Rangefinders
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#define IR1 6 |
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#define IR2 5 |
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#define IR3 4 |
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#define IR4 3 |
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#define IR5 2 |
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#define range_init() printf("Rangefinders initialized\n") |
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#define range_read_distance(rf) getRangefinderVal(rf)
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// BOM
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#define BOM_ALL 0xFFFF |
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#define BOM10 0 |
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#define BOM15 1 |
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#define RBOM 2 |
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#define bom_init(t) printf("BOM type %c initialized\n", t) |
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#define bom_refresh() printf("BOM refreshed\n") |
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#define bom_on() printf("BOM is on\n") |
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#define bom_off() printf("BOM is off\n") |
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#define bom_get(which) getBomVal(which)
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#define bom_get_max() getBomMax()
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// Encoders
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#define encoders_init() printf("Encoders initialized\n") |
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// Buttons
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#define button1_click() printf("Checked for button 1 to be clicked\n") |
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#define button2_click() printf("Checked for button 2 to be clicked\n") |
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// Wheel
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#define wheel() getWheel()
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// USB
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#define usb_puts(s) printf("%s\n", s) |
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#define usb_puti(i) printf("%i\n", i) |
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#define usb_putc(c) printf("%c\n", c) |
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// Buzzer
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#define buzzer_chirp(t, f) printf("Buzzer played note %i for %i ms. I hate you.\n", f, t) |
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// Wireless (old)
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#define xbee_intit() printf("XBee initialized\n") |
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#define wl_basic_init_default() printf("Old WL library intitalized\n") |
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#define wl_set_channel(c) printf("WL channel set to %i\n", c) |
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#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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#define wl_basic_do_default(l) printf("WL checked for basic packet lengthp: %p\n", l) |
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// Wireless (new)
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// Linefollowing
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// Time
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#define rtc_init(tc, fn) printf("RTC initialized: time: %i fn: %p\n", tc, fn) |
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#define rtc_reset() printf("RTC reset\n") |
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#define rtc_get() printf("RTC polled\n") |
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#define delay_ms(t) printf("Delaying for %i ms\n", t) |
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// Math
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