annotated version.

[IRC.git] / Robust / src / Benchmarks / SSJava / JavaNator / PWMManager.java

diff --git a/Robust/src/Benchmarks/SSJava/JavaNator/PWMManager.java b/Robust/src/Benchmarks/SSJava/JavaNator/PWMManager.java
index 95dcad5a26e1cdfca7d4f890085f93ddd0e70689..d194470246583d29f1df548d7d923f9cacfc4563 100644 (file)
--- a/Robust/src/Benchmarks/SSJava/JavaNator/PWMManager.java
+++ b/Robust/src/Benchmarks/SSJava/JavaNator/PWMManager.java
@@ -28,25 +28,28 @@
  * @version 1.0\r
  */\r
 \r
+@LATTICE("V")\r
+@METHODDEFAULT("OUT<THIS,THIS<V,V<IN,V*,THISLOC=THIS,RETURNLOC=OUT")\r
 public class PWMManager {\r
 \r
-  private int GPIO_A_OER = 0x09002000;\r
-  private int GPIO_A_OUT = GPIO_A_OER + 4;\r
-  private int GPIO_E_OER = 0x09002400;\r
-  private int GPIO_E_OUT = 0x09002404;\r
-  private byte MOTOR_PORTID_6 = 6; // Bit 2 (...3,2,1,0)\r
-  private byte MOTOR_PORTID_7 = 7; // Bit 3 (...3,2,1,0)\r
+  // private int GPIO_A_OER = 0x09002000;\r
+  // private int GPIO_A_OUT = GPIO_A_OER + 4;\r
+  // private int GPIO_E_OER = 0x09002400;\r
+  // private int GPIO_E_OUT = 0x09002404;\r
+  // private byte MOTOR_PORTID_6 = 6; // Bit 2 (...3,2,1,0)\r
+  // private byte MOTOR_PORTID_7 = 7; // Bit 3 (...3,2,1,0)\r
+  @LOC("V")\r
   private int currentRegMask;\r
+  @LOC("V")\r
   private boolean DEBUG = false;\r
-  private int currentSpeedL;\r
-  private int currentSpeedR;\r
-  private int currentSpeed;\r
-  private PWMControl pwmControl;\r
-  private PWMNative pwmNative;\r
-  private PWMRtsj pwmRtsj;\r
+  // private PWMControl pwmControl;\r
+  @LOC("V")\r
   private RCBridge rcb;\r
+  @LOC("V")\r
   private int speedFactor;\r
+  @LOC("V")\r
   private int agilityFactor;\r
+  @LOC("V")\r
   private int zeroSpeed = 45;\r
 \r
   /**\r
@@ -57,13 +60,13 @@ public class PWMManager {
      * Instantiate PWM Makers one for each motor. motorPortId is 1 to 8 and is\r
      * corresponding to 8 bits in a byte.\r
      */\r
-    if (pwmSelection.equals("rtsj"))\r
-      pwmControl = new PWMRtsj(this, MOTOR_PORTID_6, MOTOR_PORTID_7);\r
-    else {\r
-      System.out.println("Selection PWMNative is activated");\r
-      pwmControl = new PWMNative(this, MOTOR_PORTID_6, MOTOR_PORTID_7);\r
-      System.out.println("Selection PWMNative is activated.... Return");\r
-    }\r
+    // if (pwmSelection.equals("rtsj"))\r
+    // pwmControl = new PWMRtsj(this, MOTOR_PORTID_6, MOTOR_PORTID_7);\r
+    // else {\r
+    // System.out.println("Selection PWMNative is activated");\r
+    // pwmControl = new PWMNative(this, MOTOR_PORTID_6, MOTOR_PORTID_7);\r
+    // System.out.println("Selection PWMNative is activated.... Return");\r
+    // }\r
 \r
     // rcb = new RCBridge(this);\r
     rcb = new RCBridge();\r
@@ -75,22 +78,22 @@ public class PWMManager {
   public void setManualMode() {\r
     if (DEBUG)\r
       System.out.println("PWMManager: setManualMode....");\r
-    pwmControl.setManualMode();\r
+    // pwmControl.setManualMode();\r
     rcb.setManualMode();\r
   }\r
 \r
   public void setAutomatedMode() {\r
     if (DEBUG)\r
       System.out.println("PWMManager: setAutomatedMode....");\r
-    pwmControl.setAutomatedMode();\r
+    // pwmControl.setAutomatedMode();\r
     rcb.setAutomatedMode();\r
   }\r
 \r
-  public PWMControl getPWMControl() {\r
-    if (DEBUG)\r
-      System.out.println("PWMManager: getPWMControl....");\r
-    return pwmControl;\r
-  }\r
+  // public PWMControl getPWMControl() {\r
+  // if (DEBUG)\r
+  // System.out.println("PWMManager: getPWMControl....");\r
+  // return pwmControl;\r
+  // }\r
 \r
   public synchronized void writeToPort(int myBit, int myValue) {\r
     currentRegMask &= ~myBit; // e.g. 0x11110111\r
@@ -171,7 +174,7 @@ public class PWMManager {
     if (DEBUG)\r
       System.out.println("PWMManager: setSpeedFactor....");\r
     this.speedFactor = speedFactor;\r
-    pwmControl.setSpeedAgilityFactors(speedFactor, agilityFactor);\r
+    // pwmControl.setSpeedAgilityFactors(speedFactor, agilityFactor);\r
   }\r
 \r
   /**\r
@@ -184,7 +187,7 @@ public class PWMManager {
     if (DEBUG)\r
       System.out.println("PWMManager: setAgilityFactor....");\r
     this.agilityFactor = agilityFactor;\r
-    pwmControl.setSpeedAgilityFactors(speedFactor, agilityFactor);\r
+    // pwmControl.setSpeedAgilityFactors(speedFactor, agilityFactor);\r
   }\r
 \r
   /**\r
@@ -193,12 +196,12 @@ public class PWMManager {
    * @param speed\r
    * @param agility\r
    */\r
-  public synchronized void setSpeedAgilityFactors(int speed, int agility) {\r
+  public synchronized void setSpeedAgilityFactors(@LOC("IN") int speed, @LOC("IN") int agility) {\r
     if (DEBUG)\r
       System.out.println("PWMManager: setSpeedAgilityFactors....");\r
     speedFactor = speed;\r
     agilityFactor = agility;\r
-    pwmControl.setSpeedAgilityFactors(speedFactor, agilityFactor);\r
+    // pwmControl.setSpeedAgilityFactors(speedFactor, agilityFactor);\r
   }\r
 \r
   /**\r