mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
58 lines
2.0 KiB
C
58 lines
2.0 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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/* Constants */
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#define LOG_DEBUG __FILE__,__FUNCTION__,__LINE__,DEBUG_TYPE
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#define LOG_INFO __FILE__,__FUNCTION__,__LINE__,INFO_TYPE
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#define LOG_ERROR __FILE__,__FUNCTION__,__LINE__,ERROR_TYPE
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#define LOG_CRITICAL __FILE__,__FUNCTION__,__LINE__,CRITICAL_TYPE
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#define LOG_FATAL __FILE__,__FUNCTION__,__LINE__,FATAL_TYPE
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#define LOG_DEBUG __FILE__,__FUNCTION__,__LINE__,DEBUG_TYPE
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/* Enumerated Types */
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/** debug levels */
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enum dprint_type {DEBUG_TYPE, INFO_TYPE, ERROR_TYPE, CRITICAL_TYPE, FATAL_TYPE};
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/** debug output setting */
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typedef enum DebugOutputType_enum {
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DEBUG_OFF, DEBUG_MOSTLY_OFF, DEBUG_SCREEN_ONLY, DEBUG_FILE_ONLY, DEBUG_SCREEN_AND_FILE
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}DebugOutputType;
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/* Enumerated Types */
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/* Utility functions */
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/* debug */
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void SetDebugFlag ( DebugOutputType flag );
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void dprintf ( const char * tempString, ... ); /* Variable argument list */
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/* set FRC ranges for drive */
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double RangeToNormalized(double pixel, int range);
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/* change normalized value to any range - used for servo */
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float NormalizeToRange(float normalizedValue, float minRange, float maxRange);
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float NormalizeToRange(float normalizedValue);
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/* system utilities */
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void ShowActivity (char *fmt, ...);
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double ElapsedTime (double startTime);
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/* servo panning utilities */
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class Servo;
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double SinPosition (double *period, double sinStart);
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void panInit();
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void panInit(double period);
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void panForTarget(Servo *panServo);
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void panForTarget(Servo *panServo, double sinStart);
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/* config file read utilities */
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int processFile(char *inputFile, char *outputString, int lineNumber);
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int emptyString(char *string);
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void stripString(char *string);
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