108 lines
2.1 KiB
C++
108 lines
2.1 KiB
C++
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/*
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This Source Code Form is subject to the terms of the Mozilla Public
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License, v. 2.0. If a copy of the MPL was not distributed with this
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file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include <bits/stdc++.h>
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#include <stdio.h>
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#include <string.h>
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#include "api.h"
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/**
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* Controller.
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*/
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extern pros::Controller master;
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namespace ez {
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/**
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* Prints our branding all over your pros terminal
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*/
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void ez_template_print();
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/**
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* Prints to the brain screen in one string. Splits input between lines with
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* '\n' or when text longer then 32 characters.
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*
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* @param text
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* Input string. Use '\n' for a new line
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* @param line
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* Starting line to print on, defaults to 0
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*/
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void screen_print(std::string text, int line = 0);
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/////
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//
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// Public Variables
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//
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/////
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/**
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* Enum for split and single stick arcade.
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*/
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enum e_type { SINGLE = 0,
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SPLIT = 1 };
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/**
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* Enum for split and single stick arcade.
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*/
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enum e_swing { LEFT_SWING = 0,
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RIGHT_SWING = 1 };
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/**
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* Enum for PID::exit_condition outputs.
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*/
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enum exit_output { RUNNING = 1,
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SMALL_EXIT = 2,
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BIG_EXIT = 3,
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VELOCITY_EXIT = 4,
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mA_EXIT = 5,
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ERROR_NO_CONSTANTS = 6 };
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/**
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* Enum for split and single stick arcade.
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*/
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enum e_mode { DISABLE = 0,
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SWING = 1,
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TURN = 2,
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DRIVE = 3 };
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/**
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* Outputs string for exit_condition enum.
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*/
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std::string exit_to_string(exit_output input);
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namespace util {
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extern bool AUTON_RAN;
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/**
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* Returns 1 if input is positive and -1 if input is negative
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*/
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int sgn(double input);
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/**
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* Returns true if the input is < 0
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*/
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bool reversed_active(double input);
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/**
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* Returns input restricted to min-max threshold
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*/
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double clamp(double input, double max, double min);
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/**
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* Is the SD card plugged in?
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*/
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const bool SD_CARD_ACTIVE = pros::usd::is_installed();
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/**
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* Delay time for tasks
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*/
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const int DELAY_TIME = 10;
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} // namespace util
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} // namespace ez
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