612.h

/* 612.h
 *
 * Copyright (c) 2011, 2012 Chantilly Robotics <chantilly612@gmail.com>
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

/*
 * Project-Wide defines!
 */

#ifndef INC_612_H
#define INC_612_H

#include <vxWorks.h>
#include <taskLib.h>

#ifndef TASKARG_T_DEFINED // defined in frc-cpp-sim, not defined for actual robot
#ifdef __x86_64__
typedef UINT64 taskarg_t;
#else
typedef UINT32 taskarg_t;
#endif
#define TASKARG_T_DEFINED
#endif


/*const double SHOOT_KEY_FREQ = 73.0
const double SHOOT_KEY_ANGLE = */

typedef UINT32 state_t;
typedef UINT8 module_t;
typedef UINT8 range_t;

enum GLOBAL_ROBOT_STATE {
    STATE_DRIVING = 0,
    STATE_SHOOTING = 1
};

void perror_612_(const char*, int, const char *);

//need to use a #define here in order to have __FILE__/__LINE__ work
#define perror_612(sym) perror_612_(__FILE__, __LINE__, sym)

//need to use a #define here - use 1/0 not true/false to allow #if usage.
//debug mode
#define DEBUG_612 (1)
//non-debug mode
//#defind DEBUG_612 (0)

//use target identification heuristic
//#define VISION_ALT_HEURISTIC
//use ad-hoc target height detection
#define VISION_ALT_ADHOC

//calculate trajectory with fixed exit speed
//#define TRAJECTORY_LAUNCHSPEED
//calculate trajectory with fixed entry angle
#define TRAJECTORY_ENTRYANGLE

#define USE_CANBUS
//#define USE_JAGUARPWM
#ifdef USE_JAGUARPWM
#define SPEEDCONTROLLER Jaguar
#else
#define SPEEDCONTROLLER CANJaguar
#endif

#endif