MecanumDrive::MecanumDrive( UINT32 frontLeftMotorChannel,
UINT32 frontRightMotorChannel,
UINT32 rearLeftMotorChannel,
UINT32 rearRightMotorChannel,
UINT32 frontLeftEncoderChannelA,
UINT32 frontLeftEncoderChannelB,
UINT32 frontRightEncoderChannelA,
UINT32 frontRightEncoderChannelB,
UINT32 rearLeftEncoderChannelA,
UINT32 rearLeftEncoderChannelB,
UINT32 rearRightEncoderChannelA,
UINT32 rearRightEncoderChannelB,
UINT32 gyroChannel,
UINT32 accelerometerChannelX,
UINT32 accelerometerChannelY )
: m_frontLeftMotor( frontLeftMotorChannel)
, m_frontRightMotor( frontRightMotorChannel)
, m_rearLeftMotor( rearLeftMotorChannel)
, m_rearRightMotor( rearRightMotorChannel)
, m_frontLeftEncoder(4,frontLeftEncoderChannelA,4,frontLeftEncoderChannelB)
, m_frontRightEncoder(4,frontRightEncoderChannelA,4,frontRightEncoderChannelB)
, m_rearLeftEncoder(4,rearLeftEncoderChannelA,4,rearLeftEncoderChannelB)
, m_rearRightEncoder(4,rearRightEncoderChannelA,4,rearRightEncoderChannelB)
, m_gyroscope(1,gyroChannel)
, m_accelerometerX(1,accelerometerChannelX)
, m_accelerometerY(1,accelerometerChannelY)
{
InitializeSensors();
RestartSensors();
}
int
LightHouseHardware::Initialize(
LightHouseLight* light,
LightHouseSensors* sensors
)
{
m_whitePin = light->whitePin;
m_redPin = light->redPin;
m_greenPin = light->greenPin;
m_bluePin = light->bluePin;
// Setup our application hardware pins
if (m_whitePin != (-1)) {
pinMode(m_whitePin, OUTPUT);
}
if (m_redPin != (-1)) {
pinMode(m_redPin, OUTPUT);
// Set test short cut
m_rgbEnabled = true;
}
if (m_greenPin != (-1)) {
pinMode(m_greenPin, OUTPUT);
m_rgbEnabled = true;
}
if (m_bluePin != (-1)) {
pinMode(m_bluePin, OUTPUT);
m_rgbEnabled = true;
}
//
// Setup environmental sensors
//
InitializeSensors(sensors);
//
// NMEA 0183 streaming sensors must be deferred until
// the MenloDweet* channel is registered by the application
// later in initialization.
//
//
// Note: The Dweet Application is responsible for getting
// any configuration from the MenloConfigStore (EEPROM)
// and setting states of the hardware.
//
return 0;
}