/*******************************************************************************
*
*	TITLE:		teleop.c 
*
*	VERSION:	0.1 (Beta)                           
*
*	DATE:		31-Dec-2007
*
*	AUTHOR:		R. Kevin Watson
*				kevinw@jpl.nasa.gov
*
*	COMMENTS:	This file best viewed with tabs set to four.
*
*				You are free to use this source code for any non-commercial
*				use. Please do not make copies of this source code, modified
*				or un-modified, publicly available on the internet or elsewhere
*				without permission. Thanks.
*
*				Copyright ©2007-2008 R. Kevin Watson. All rights are reserved.
*
********************************************************************************
*
*	Change log:
*
*	DATE         REV  DESCRIPTION
*	-----------  ---  ----------------------------------------------------------
*	31-Dec-2007  0.1  RKW Original
*
*******************************************************************************/

#include <stdio.h>
#include "ifi_frc.h"
#include "pwm.h"
#include "timers.h"
#include "interrupts.h"
#include "serial_ports.h"
#include "ifi_code.h"
#include "teleop.h"
#include "math.h"

/*******************************************************************************
*
*	FUNCTION:		Initialization()
*
*	PURPOSE:		This function is called once when the robot controller
*					is cold or warm booted. You should initialize your code
*					here.		
* 
*	CALLED FROM:	main() in ifi_frc.c
*
*	PARAMETERS:		None
*
*	RETURNS:		Nothing
* 
*	COMMENTS:
*
*******************************************************************************/
void Initialization(void)
{
	// Setup the digital I/O pins. Use "INPUT" to setup the pin
	// as an input and "OUTPUT" to setup the pin as an output.
	digital_io_01 = INPUT;
	digital_io_02 = INPUT;
	digital_io_03 = INPUT;
	digital_io_04 = INPUT;
	digital_io_05 = INPUT;
	digital_io_06 = INPUT;
	digital_io_07 = INPUT;
	digital_io_08 = INPUT;
	digital_io_09 = INPUT;
	digital_io_10 = INPUT;
	digital_io_11 = INPUT;
	digital_io_12 = INPUT;
	digital_io_13 = INPUT;
	digital_io_14 = INPUT;
	digital_io_15 = INPUT;
	digital_io_16 = INPUT;
	digital_io_17 = INPUT;
	digital_io_18 = INPUT;


	// Initialize the digital outputs. If the pin is configured
	// as an input above, it doesn't matter what state you
	// initialize it to here.
	rc_dig_out01 = 0;
	rc_dig_out02 = 0;
	rc_dig_out03 = 0;
	rc_dig_out04 = 0;
	rc_dig_out05 = 0;
	rc_dig_out06 = 0;
	rc_dig_out07 = 0;
	rc_dig_out08 = 0;
	rc_dig_out09 = 0;
	rc_dig_out10 = 0;
	rc_dig_out11 = 0;
	rc_dig_out12 = 0;
	rc_dig_out13 = 0;
	rc_dig_out14 = 0;
	rc_dig_out15 = 0;
	rc_dig_out16 = 0;
	rc_dig_out17 = 0;
	rc_dig_out18 = 0;

	// initialize timers and external interrupts here
	// (see timers.c/.h and interrupts.c/.h)


	printf("IFI User Processor Initialized ...\r\n");
}

/*******************************************************************************
*
*	FUNCTION:		Teleop_Init()
*
*	PURPOSE:		This is where you put code that needs to execute
*					just once at the start of teleoperation mode.		
* 
*	CALLED FROM:	main() in ifi_frc.c
*
*	PARAMETERS:		None
*
*	RETURNS:		Nothing
* 
*	COMMENTS:		While in this mode, all operator interface data is valid
*					and all robot controller outputs are enabled.
*
*******************************************************************************/
void Teleop_Init(void)
{

}

/*******************************************************************************
*
*	FUNCTION:		Teleop()
*
*	PURPOSE:		This is where you put code that you want to execute while
*					your robot is in teleoperation mode. While in teleoperation
*					mode, this function is called every	26.2ms after new data
*					is received from the master processor.		
* 
*	CALLED FROM:	main() in ifi_frc.c
*
*	PARAMETERS:		None
*
*	RETURNS:		Nothing
* 
*	COMMENTS:		While in this mode, all operator interface data is valid
*					and all robot controller outputs are enabled.
*
*******************************************************************************/
void Teleop(void)
{
	short long a=666666;
	short long b;

	b = sin(a);

	Update_OI_LEDs();	// located in ifi_code.c
}

/*******************************************************************************
*
*	FUNCTION:		Teleop_Spin()
*
*	PURPOSE:		While in teleoperation mode, this function is called
*					continuously between calls to Teleop().		
* 
*	CALLED FROM:	main() in ifi_frc.c
*
*	PARAMETERS:		None
*
*	RETURNS:		Nothing
* 
*	COMMENTS:		While in this mode, all operator interface data is valid
*					and all robot controller outputs are enabled.
*
*******************************************************************************/
void Teleop_Spin(void)
{

}