Cortex configuration

Before use, the digital and motor ports need to be configured, this is done by passing structures with configuration information to the following functions.

vexDigitalConfigure(vexDigiCfg *cfg, int16_t cfg_num)
vexMotorConfigure(vexMotorCfg *cfg, int16_t cfg_num)

This is usually done in the vexUserSetup function which is called part way through the initialization process. Here is an example of use.

// Digi IO configuration
static  vexDigiCfg  dConfig[ kVexDigital_Num ] = {
        { kVexDigital_1,    kVexSensorDigitalOutput, kVexConfigOutput,      0 },
        { kVexDigital_2,    kVexSensorDigitalOutput, kVexConfigOutput,      0 },
        { kVexDigital_3,    kVexSensorSonarCm,       kVexConfigSonarOut,    kVexSonar_1 },
        { kVexDigital_4,    kVexSensorSonarCm,       kVexConfigSonarIn,     kVexSonar_1 },
        { kVexDigital_5,    kVexSensorDigitalInput,  kVexConfigInput,       0 },
        { kVexDigital_6,    kVexSensorDigitalInput,  kVexConfigInput,       0 },
        { kVexDigital_7,    kVexSensorDigitalInput,  kVexConfigInput,       0 },
        { kVexDigital_8,    kVexSensorQuadEncoder,   kVexConfigQuadEnc1,    kVexQuadEncoder_2 },
        { kVexDigital_9,    kVexSensorQuadEncoder,   kVexConfigQuadEnc2,    kVexQuadEncoder_2 },
        { kVexDigital_10,   kVexSensorDigitalInput,  kVexConfigInput,       0 },
        { kVexDigital_11,   kVexSensorQuadEncoder,   kVexConfigQuadEnc1,    kVexQuadEncoder_1 },
        { kVexDigital_12,   kVexSensorQuadEncoder,   kVexConfigQuadEnc2,    kVexQuadEncoder_1 }
};
// Motor configuration
static  vexMotorCfg mConfig[ kVexMotorNum ] = {
        { kVexMotor_1,      kVexMotor393T,           kVexMotorNormal,       kVexSensorIME,         kImeChannel_1 },
        { kVexMotor_2,      kVexMotorUndefined,      kVexMotorNormal,       kVexSensorNone,        0 },
        { kVexMotor_3,      kVexMotor393S,           kVexMotorNormal,       kVexSensorNone,        0 },
        { kVexMotor_4,      kVexMotorUndefined,      kVexMotorNormal,       kVexSensorNone,        0 },
        { kVexMotor_5,      kVexMotor269,            kVexMotorReversed,     kVexSensorQuadEncoder, kVexQuadEncoder_1 },
        { kVexMotor_6,      kVexMotorUndefined,      kVexMotorNormal,       kVexSensorNone,        0 },
        { kVexMotor_7,      kVexMotorUndefined,      kVexMotorNormal,       kVexSensorNone,        0 },
        { kVexMotor_8,      kVexMotorUndefined,      kVexMotorNormal,       kVexSensorNone,        0 },
        { kVexMotor_9,      kVexMotorUndefined,      kVexMotorNormal,       kVexSensorNone,        0 },
        { kVexMotor_10,     kVexMotor393T,           kVexMotorNormal,       kVexSensorIME,         kImeChannel_2 }
};

void
vexUserSetup()
{
    vexDigitalConfigure( dConfig, DIG_CONFIG_SIZE( dConfig ) );
    vexMotorConfigure( mConfig, MOT_CONFIG_SIZE( mConfig ) );
}

Digital pins are configured as follows

• pin name
• pin function
  • digital input
  • digital output
  • sonar with return values in cm
  • sonar with return values in inches
  • quadrature encoder
• pin configuration - depends on function
  • For Sonar sensors
    • Sonar input
    • Sonar outout
  • For Quad encoders
    • first encoder input
    • second encoder input
• function channel

Motors are configured as follows

• Motor port
• Motor type
  • 393 motor in Torque mode
  • 393 motor in speed mode
  • 269 motor
• Motor direction (direction the positive command values cause the motor to turn)
• Sensor assigned to this motor, this should be one of the following
  • kVexSensorNone - no motor position sensor
  • kVexSensorQuadEncoder - a quadrature encoder used for motor position feedback.
  • kVexSensorIME - An IME used as motor position feedback.
• Sensor channel