/*
| ---------------------------------------------------------------------
| Filename: hdtomni.c
| Author:   Thomas Braunl   (braunl@ee.uwa.edu.au)
|
| Description: 
| -------
| HDT data for Omni-Directional Robot, UWA, April 1999
| ---------------------------------------------------------------------
*/

#define VERSION 1.1           /* User specific version nr. */
#define NAME "Omni"           /* Unique name max. 10 chars */
#define ID   10               /* Unique platform id (int)  */

#include "hdt.h"
#include "hdt_sem.h"

/* The HDT structure */
/*-------------------*/
int     magic = 123456789;
extern HDT_entry_type HDT[];
HDT_entry_type  *hdtbase = &HDT[0];

#include "types.h"
#include "const.h"
#include "rs232.h"
#include "cam.h"
#include "librobi/librobi.h"

/* infraread remote control on Servo S11 */
irtv_type irtv = {0, 12, TPU_HIGH_PRIO};
 
/* PSD-sensor */
short dist0[128] = {60,60,60,60,60,60,60,60,60,60,           /*  1- 20*/
                    60,60,60,60,60,60,60,60,60,60,           /* 21- 40*/
                    60,60,80,100,109,110,112,114,117,119,    /* 41- 60*/
                    122,125,129,133,137,141,146,150,154,158, /* 61- 80*/
                    162,166,170,175,180,185,190,196,202,208, /* 81-100*/
                    214,220,226,232,238,244,250,256,262,268, /*101-120*/
                    274,280,286,292,297,303,309,315,321,328, /*121-140*/
                    335,342,350,359,367,374,383,392,402,412, /*141-160*/
                    422,433,446,459,473,495,518,540,562,586, /*161-180*/
                    611,641,671,701,752,800,852,910,953,999, /*181-200*/
                    999,999,999,999,999,999,999,999,999,999, /*201-220*/
                    999,999,999,999,999,999,999,999,999,999, /*221-240*/
                    999,999,999,999,999,999,999,999};        /*241-256*/


BYTE motconv0[101]={ 0, 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};

/* DC motors */
motor_type motor0 = {2,1, TIMER1, 8191, (void*)OutBase, 3, 2, (BYTE*)&motconv0};
motor_type motor1 = {2,0, TIMER1, 8191, (void*)OutBase, 0, 1, (BYTE*)&motconv0};
motor_type motor2 = {2,6, TIMER1, 8191, (void*)OutBase, 7, 5, (BYTE*)&motconv0};
motor_type motor3 = {2,7, TIMER1, 8191, (void*)OutBase, 6, 7, (BYTE*)&motconv0};

quad_type decoder0 = {0, 5, 4, MOTOR_FR, 27475, 2.0};
quad_type decoder1 = {0, 2, 3, MOTOR_FL, 27475, 2.0};
quad_type decoder2 = {0, 9, 8, MOTOR_BR, 27475, 2.0};
quad_type decoder3 = {0,10,11, MOTOR_BL, 27475, 2.0};
/* vw_type drive = {0, DIFFERENTIAL_DRIVE, {QUAD_FL, QUAD_FR, 0.084}}; */
vw_type_omni drive = {0, OMNI_DRIVE, {QUAD_FL, QUAD_FR, QUAD_BL, QUAD_BR,
                      0.110, 0.185 }}; /* dist. bet. wheels, dist. between axes */


/* PSD-infrared */
psd_type   psd0   = {0, 14, (BYTE*)InBase, 0, AH, (BYTE*)OutBase, 4, AH, (short*)&dist0};
psd_type   psd1   = {0, 14, (BYTE*)InBase, 1, AH, (BYTE*)OutBase, 4, AH, (short*)&dist0};
psd_type   psd2   = {0, 14, (BYTE*)InBase, 2, AH, (BYTE*)OutBase, 4, AH, (short*)&dist0};


/* EyeBot SUMMARY */
info_type roboinfo  = {0,PLATFORM,SER115200,RTSCTS,SERIAL1,0,0,
                       AUTOBRIGHTNESS,BATTERY_ON,33,VERSION,NAME,ID};

/* waitstates = 0..13, Fast Termination = 14, External = 15 */
/* Version, ROM, RAM, LCD, IO, Parallel+Serial2/3 */
/* 16MHz - 20Mhz */ /* waitstate_type waitstates = {0,3,0,1,0,2}; */
/* 21MHz - 41Mhz */    waitstate_type waitstates = {0,3,1,2,1,2};

/* include startup sound and image */
#include "startup.h"
 
HDT_entry_type HDT[] =
{
    {MOTOR,MOTOR_FR,"FRT-R",(void *)&motor0},
    {MOTOR,MOTOR_FL,"FRT-L",(void *)&motor1},
    {MOTOR,MOTOR_BR,"BCK-R",(void *)&motor2},
    {MOTOR,MOTOR_BL,"BCK-L",(void *)&motor3},
    {QUAD, QUAD_FR,"FRT-R",(void *)&decoder0},
    {QUAD, QUAD_FL,"FRT-L",(void *)&decoder1},
    {QUAD, QUAD_BR,"BCK-R",(void *)&decoder2},
    {QUAD, QUAD_BL,"BCK-L",(void *)&decoder3},
    {VW,VW,"Drive",(void *)&drive},

    {PSD,PSD_LEFT,      "P0-L", (void *)&psd0},
    {PSD,PSD_FRONT,     "P1-F", (void *)&psd1},
    {PSD,PSD_RIGHT,     "P2-R", (void *)&psd2},

    {WAIT,WAIT,"WAIT",(void *)&waitstates},
    {INFO,INFO,"INFO",(void *)&roboinfo},

    {IRTV,IRTV,"IRTV",(void *)&irtv},
    {STARTMELODY,STARTMELODY,"Melody",(void *)startmelody},
    {STARTIMAGE,STARTIMAGE,"Image",(void *)&startimage},

    {END_OF_HDT,UNKNOWN_SEMANTICS,"END",(void *)0}
};