mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
53473e21be
Most of the old vision code still compiles with minimal changes. I haven't tested it extensively, since the AxisCamera class isn't done, but it should work, as it was barely modified. Java bindings are still TODO, since they used some JNA stuff that probably won't work now. Change-Id: I8edf991410cb30b932379f277cee9d329ee35009
58 lines
2.0 KiB
C++
58 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2014. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
/* Constants */
|
|
#define LOG_DEBUG __FILE__,__FUNCTION__,__LINE__,DEBUG_TYPE
|
|
#define LOG_INFO __FILE__,__FUNCTION__,__LINE__,INFO_TYPE
|
|
#define LOG_ERROR __FILE__,__FUNCTION__,__LINE__,ERROR_TYPE
|
|
#define LOG_CRITICAL __FILE__,__FUNCTION__,__LINE__,CRITICAL_TYPE
|
|
#define LOG_FATAL __FILE__,__FUNCTION__,__LINE__,FATAL_TYPE
|
|
#define LOG_DEBUG __FILE__,__FUNCTION__,__LINE__,DEBUG_TYPE
|
|
|
|
/* Enumerated Types */
|
|
|
|
/** debug levels */
|
|
enum dprint_type {DEBUG_TYPE, INFO_TYPE, ERROR_TYPE, CRITICAL_TYPE, FATAL_TYPE};
|
|
|
|
/** debug output setting */
|
|
typedef enum DebugOutputType_enum {
|
|
DEBUG_OFF, DEBUG_MOSTLY_OFF, DEBUG_SCREEN_ONLY, DEBUG_FILE_ONLY, DEBUG_SCREEN_AND_FILE
|
|
}DebugOutputType;
|
|
|
|
/* Enumerated Types */
|
|
|
|
/* Utility functions */
|
|
|
|
/* debug */
|
|
void SetDebugFlag ( DebugOutputType flag );
|
|
void dprintf ( const char * tempString, ... ); /* Variable argument list */
|
|
|
|
/* set FRC ranges for drive */
|
|
double RangeToNormalized(double pixel, int range);
|
|
/* change normalized value to any range - used for servo */
|
|
float NormalizeToRange(float normalizedValue, float minRange, float maxRange);
|
|
float NormalizeToRange(float normalizedValue);
|
|
|
|
/* system utilities */
|
|
void ShowActivity (char *fmt, ...);
|
|
double ElapsedTime (double startTime);
|
|
|
|
/* servo panning utilities */
|
|
class Servo;
|
|
double SinPosition (double *period, double sinStart);
|
|
void panInit();
|
|
void panInit(double period);
|
|
void panForTarget(Servo *panServo);
|
|
void panForTarget(Servo *panServo, double sinStart);
|
|
|
|
/* config file read utilities */
|
|
int processFile(char *inputFile, char *outputString, int lineNumber);
|
|
int emptyString(char *string);
|
|
void stripString(char *string);
|
|
|