File content as of revision 4:4233d072b5af:

#include "CarAPI.h"
#include "CarBaseAPI.h"

/******************************** Init and Finish ********************************/

void init(){
    _initialize();
}

void finish(){
    _finish();
}

/******************************** Wheels and Motor ********************************/

/* turn the car.  turnAngle should be between [-1,1] */
void turn(float turnAngle){
    turn(0,turnAngle);
}

/** move forward with the given power, turn angle, for a specified time */
void move(float power, float seconds){
    move (power,power,seconds);
}

/** move forward with the given powers for each wheel, turn angle, for a specified time */
void move(float leftWheelPower,float rightWheelPower, float seconds){
    if(debug) utrace("move(%f,%f,%f)\r\n",leftWheelPower,rightWheelPower,seconds);
    TFC_SetMotorPWM(leftWheelPower,rightWheelPower); // power for n seconds with both wheels the same power
    wait(seconds);
    TFC_SetMotorPWM(0,0); // turn off power to both wheels
    wait(0.05); //need a wait to register or sebsequent calls to this method won't spin the wheel; hardware can't detect instaneous input?    
}

/** lock the wheels*/
void parkingBrake(){
    if(debug) utrace("parkingBrake()\r\n");
    TFC_SetMotorPWM(0.1,0.1); //slight spinning of wheel
    wait(0.1);
}

/** do nothing for the specified time */
void sleep(float seconds){
    if(debug) utrace("sleep(%f)\r\n",seconds);
}


/******************************** INPUTS AND OUTPUTS ********************************/
/** check to see if the car is crashing into something */
bool checkIsCrashing(){
    if(debug) utrace("checkIsCrashing()\r\n");
    return abs(accelerometer.getAccX()) >= crashSensitivity;
}

/** check to see if the car has stopped */
bool isStopped()
{
    double x = accelerometer.getAccX();
    double y = accelerometer.getAccY();
    double z = accelerometer.getAccZ();
    double calAcc = sqrt(x*x + y*y + z*z);
    if (calAcc < stopSensitivity)
        return 1;
    return 0;
}



/** Return the line direction
    line to the left of center. return [-1,0
    line to the right of center. return (0,1]
    line in center. return 0
*/
float lineDirection(){
    return 0;
}

/* toggle led 0 */
void toggleLED0(){
    if(debug) utrace("toggleLED0()\r\n");
    TFC_BAT_LED0_TOGGLE;    
}

/* toggle led 1 */
void toggleLED1(){
    if(debug) utrace("toggleLED1()\r\n");
    TFC_BAT_LED1_TOGGLE;    
}

/* toggle led 2 */
void toggleLED2(){
    if(debug) utrace("toggleLED2()\r\n");
    TFC_BAT_LED2_TOGGLE;    
}

/* toggle led 3 */
void toggleLED3(){
    if(debug) utrace("toggleLED3()\r\n");
    TFC_BAT_LED3_TOGGLE;    
}

/** is Button B pressed */
bool isButtonBPressed(){
    if(debug) utrace("isButtonBPressed()=%d\r\n",TFC_PUSH_BUTTON_1_PRESSED);
    return TFC_PUSH_BUTTON_1_PRESSED;
}

/** read Potentiometer 0. returns [-1,1] */
float getPot0(){
    if(debug) utrace("getPot0()= %f\r\n", TFC_ReadPot(0));
    return TFC_ReadPot(0);
}

/** read Potentiometer 1. returns  [-1,1] */
float getPot1(){
    if(debug) utrace("getPot1()= %f\r\n", TFC_ReadPot(1));
    return TFC_ReadPot(1);
}

/** How much batter remains. returns  [0,1] */
float batteryLife(){
    if(debug) utrace("batteryLife()= %f\r\n", TFC_ReadBatteryVoltage());
    return TFC_ReadBatteryVoltage();
}

/******************************** Changing Variables ********************************/

/** set the base turn offset*/
void setOffset(float _turnOffset){
    if(debug) utrace("setOffset(%f)\r\n", _turnOffset);
    turnOffset = _turnOffset;
}

/** get the base turn offset */
float getOffset(){
    if(debug) utrace("getOffset()= %f\r\n", turnOffset);
    return turnOffset;
}

/** set the base crash sensitivity*/
void setCrashSensitivity(float _sensitivity){
    if(debug) utrace("setCrashSensitivity(%f)\r\n", _sensitivity);
    crashSensitivity = _sensitivity;
}

/** return the crash sensitivity */
float getCrashSensitivity(){
    if(debug) utrace("getCrashSensitivity()= %f\r\n", crashSensitivity);
    return crashSensitivity;
}

/** set the base stop sensitivity*/
void setStopSensitivity(float _sensitivity){
    if(debug) utrace("setStopSensitivity(%f)\r\n", _sensitivity);
    stopSensitivity = _sensitivity;
}

/** return the stop sensitivity */
float getStopSensitivity(){
    if(debug) utrace("getStopSensitivity()= %f\r\n", stopSensitivity);
    return stopSensitivity;
}

/** turn on debugging*/
void setDebug(bool _debug){
    if(debug) utrace("setDebug()= %d\r\n", _debug);
    debug = _debug;
}