RedRobot2014/arduinoI2C.cpp at master · team3238/RedRobot2014 · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
#include "ArduinoI2C.h"
#include <WPILib.h>

ArduinoI2C::ArduinoI2C()
{

	DigitalModule* digMon = DigitalModule::GetInstance(1);
	i2c = digMon->GetI2C(38);
}

void ArduinoI2C::Idle()
{
	static int loops = 0;
	loops++;
	if(loops % 25)
	{
		UINT8* array = new UINT8[6];
		UINT16 number[] = {0, 0, 0};
		i2c->Transaction(NULL, 0, array, 6);
		static DriverStationLCD* LCD = DriverStationLCD::GetInstance();


		for(int i = 0; i < 3; i++)
		{
			memcpy(number + i, array + (2 * i), 2);
		}
		//for(int i = 0; i < 3; i++)
		//{
	//			LCD->PrintfLine(DriverStationLCD::Line(i), "%i: %i   \t %i, :%i",
	//					i, array[i], (i%2)?(number[i/2] / 0xff):((UINT8)number[i/2]), number[i/2]);
		//}


		this->Left  = number[0];
		this->Right = number[1];
		this->Ball  = number[2];

		LCD->PrintfLine(DriverStationLCD::Line(0), "Left:  %i", Left);
		LCD->PrintfLine(DriverStationLCD::Line(1), "Right: %i", Right);
		LCD->PrintfLine(DriverStationLCD::Line(2), "Ball:  %i", Ball);
		LCD->PrintfLine(DriverStationLCD::Line(3), "Loops: %i", (int)loops);
		LCD->UpdateLCD();
	}
}
void ArduinoI2C::GetValues(int& left, int& right, int& ball)
{
	left = Left;
	right = Right;
	ball = Ball;
}

int ArduinoI2C::GetLeft()
{
	return Left;
}
int ArduinoI2C::GetRight()
{
	return Right;
}
int ArduinoI2C::GetBall()
{
	return Ball;
}

/*
ultrasonicsensors::ultrasonicsensors(UINT8 leftUltrasonicPort, UINT8 rightUltrasonicPort){
	LeftUltrasonic = new AnalogChannel(leftUltrasonicPort);
	RightUltrasonic = new AnalogChannel(rightUltrasonicPort);
	leftTotal = 0;
	rightTotal = 0;

	DigitalModule* digMon = DigitalModule::GetInstance(1);
	this->i2c = digMon->GetI2C(38);
}

double ultrasonicsensors::PIDGet(){
	return difference;
}
void ultrasonicsensors::GetVoltages(int& left, int& right)
{
	UINT8* array = new UINT8[6];

		i2c->Transaction(NULL, 0, array, 6);
		//static DriverStationLCD* LCD = DriverStationLCD::GetInstance();

		UINT16 number[] = {0, 0, 0};
		for(int i = 0; i < 3; i++)
		{
			memcpy(number + i, array + (2 * i), 2);
		}
		for(int i = 0; i < 6; i++)
		{
//			LCD->PrintfLine(DriverStationLCD::Line(i), "%i: %i   \t %i, :%i",
//					i, array[i], (i%2)?(number[i/2] / 0xff):((UINT8)number[i/2]), number[i/2]);

		}


		//SmartDashboard::PutNumber("BallSensor v2", number3);
		//LCD->UpdateLCD();
		left = number[0];
		right = number[1];
}
float ultrasonicsensors::GetLeftUltrasonicVoltage()
{
	int left = 0, right = 0;
	this->GetVoltages(left, right);
	return left;
}

float ultrasonicsensors::GetRightUltrasonicVoltage(){
	int left = 0, right = 0;
	this->GetVoltages(left, right);
	return right;
}

long ultrasonicsensors::GetTotal(){
	return total;
}

void ultrasonicsensors::Idle(){
	if(leftLoopCount <= 4){
	    if(leftLoopCount == 0){
	    	leftTotal += LeftUltrasonic->GetValue();
	    }
	    else{
	    	if(abs(((leftTotal/leftLoopCount) - LeftUltrasonic->GetValue())) < 3){
	    		leftTotal += LeftUltrasonic->GetValue();
	    	}
	    	else{
	    		leftTotal += leftTotal/leftLoopCount;
	    	}
	    }
	    leftLoopCount++;
	}
	else{
		leftAverage = leftTotal/4;
		leftLoopCount = 0;
		leftTotal = 0;
	}
	if(rightLoopCount <= 4){
		if(rightLoopCount == 0){
			rightTotal += RightUltrasonic->GetValue();
		}
		else{
			if(abs(((rightTotal/rightLoopCount) - RightUltrasonic->GetValue())) < 3){
				rightTotal += RightUltrasonic->GetValue();
			}
			else{
				rightTotal += rightTotal/rightLoopCount;
			}
		}
		rightLoopCount++;
	}
	else{
		rightAverage = rightTotal/4;
		rightLoopCount = 0;
		rightTotal = 0;
	}
	total = leftAverage + rightAverage;
	difference = leftAverage - rightAverage;
}
*/