/* constants.h
 *
 * This file contains the definition of all the constants relevant to the execution of the program.
 * Descriptions may be found inline. 
 */

#ifndef CONSTANTS_H
#define CONSTANTS_H

// Useful includes
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <ad_lib.h>		// A/D routines
#include "me118.h"		// Basic 118 libraries
#include "timer.h"		// Timer libraries
#include "ses.h"		// Event handling libraries
#include "pwm3.h"		// Pulse width modulation library
#include "pls.h"		// Pulse library

// Global debug flag
//#define ROBOT_DEBUG

#ifdef ROBOT_DEBUG
#define dprintf	printf
#else
#define dprintf
#endif

// Global types
typedef enum {
	kFalse = 0,
	kTrue
} Boolean;

// Type used to control direction of rotation
typedef enum {
	kDirectionRight = 0,
	kDirectionLeft,
	kDirectionNone
} Direction;

// MicroCore related definitions // port assignments
#define kMaxControlLevel		   255		 // Maximum A/D input level
#define kSwitchInput			   3		 // Port E3
#define kRightLeftSpeedChan	   	   PWM_CHAN3 // Port A4
#define kLeftBaseMotorDirection	   1		 // Port G1
#define kRightBaseMotorDirection   3		 // Port G3
#define kLeftSolenoid			   4		 // Port G4
#define kRightSolenoid			   5		 // Port G5
#define kBaseTurretDirection	   6		 // Port G6
#define kBaseTurretEnable	   	   7		 // Port G7
#define kColumnSpeedChan		   PWM_CHAN1 // Port A5
#define kPitchingSpeedChan		   PWM_CHAN2 // Port A6
#define kOneSecond				   244	  	 // Interrupts/4.1 ms
#define kReverseTime			   (10*kOneSecond)
#define kPitchingPowerUpTime	   (10*kOneSecond)
#define	kColumnPowerUpTime		   (kOneSecond)
#define kBaseRotateTime			   (kOneSecond/2)
#define kTurretCorrectionTime	   (kOneSecond/6)
#define kTurretBootstrap		   (kOneSecond)
#define kPWMPeriod			   	   32		 // Period to run PWM
#define kGeneralTimer			   0		 // Timer used to run turret
#define kDisableMotor			   0		 // PWM duty cycle to disable
#define kColumnRunMotor			   34		 // Column duty cycle
#define kColumnMaxSpeed			   100		 // Max column duty cycle
#define kBaseReverseSpeed		   100		 // Base drive reverse duty
#define kBaseRotateSpeed		   65		 // Rotate drive duty cycle
#define kPitchingRunCenter		   90		 //	Pitching speed (center)
#define kPitchingAngled			   88		 // Pitching speed (angled)

#endif // CONSTANTS_H