Class Bertl added
Dependencies: HCSR
Dependents: BERTL_ButtonLeds Bertl_Arbeit FollowLine SerialPC ... more
Fork of ur_Bertl by
Diff: ur_Bertl.h
- Revision:
- 0:66e9a0afcbd6
- Child:
- 1:fafbac0ba96d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ur_Bertl.h Thu Feb 26 10:12:06 2015 +0000 @@ -0,0 +1,129 @@ +/*********************************** +name: ur_Bertl.h Version: 1.0 +author: PE HTL BULME +email: pe@bulme.at +description: + Definition portion of the class ur_Bertl The Robot + + +***********************************/ +#include "mbed.h" + +#ifndef UR_BERTL_H +#define UR_BERTL_H + +#define LEFTSENSOR P1_12 +#define RIGHTSENSOR P1_13 +/********************************************//** + name: ur_Bertl.h + version: 1.0 + author: PE HTL BULME. + email: pe@bulme.at + description: + Definition and documentation portion of the class ur_Bertl The Robot. + +***********************************************/ +/** +@code +// +@endcode + +Example motor sensor test: +@code +#include "mbed.h" +#include "ur_Bertl.h" +#include "const.h" + +int main() +{ + ur_Bertl karel(LEFTSENSOR); // RIGHTSENSOR + + while(true) { + karel.NibbleLeds(karel.Read()); + } +} +@endcode + +Example moving the robot around: +@code +#include "mbed.h" +#include "ur_Bertl.h" +#include "const.h" + +int main() +{ + ur_Bertl karel; + + while(karel.WaitUntilButtonPressed()){} + //karel.Move(); + karel.TurnLeft(); + karel.ShutOff(); +} +@endcode + +Example LEDs: +@code +#include "mbed.h" +#include "ur_Bertl.h" +#include "const.h" + +int main() +{ + ur_Bertl karel; + + while(karel.WaitUntilButtonPressed()){} + + karel.TurnLedOn(LED_FL1 | LED_FR1); // see const.h + wait(1); + karel.TurnLedOn(0xFF); // or use hex + wait(1); + karel.RGBLed(1,0,0); // red + wait(1); + karel.RGBLed(0,1,0); // green + wait(1); + karel.RGBLed(0,0,1); // blue + karel.BlueLedsON(); + karel.NibbleLeds(karel.Read()); + wait(1); + karel.BlueLedsOFF(); + karel.TurnLedOff(0xFF); + karel.ShutOff(); +} +@endcode + */ +class ur_Bertl +{ +protected: + int beepersInBag; /**< how many beepers does the robot have in his bag*/ + char cmd[3]; /**< I2C command */ + int16_t btns; /**< which button is pressed */ + InterruptIn _interrupt; /**< interrupted used*/ + volatile int _count; /**< values of motor sensor*/ + + /** + protected methodes for internal purposes only + */ + void increment(); /**< ISR to increment sensor values of motor */ + bool backIsClear(); /**< don't now for what */ + bool frontButtonPressed();/**< TRUE if a a button on the front of Robot is pressed else FALSE */ + void error(); /**< Error: stops the robot and all LEDs are blinking*/ + +public: + ur_Bertl(); /**< default constructor; you have to define constants in config.h such as SPEED, DISTANCE or ANGLE*/ + ur_Bertl(PinName pin); /**< parameterized constructor; on what pin should the interrupt work; SPEED, DISTANCE or ANGLE have to bee defined in config.h */ + + void Move(); /**< Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()*/ + void TurnLeft(); /**< Robot turns left as much as the constant ANGLE*/ + void PutBeeper(); /**< if Robot has any Beepers in his bag he can put one or more Beeper; if not --> Error(()*/ + void PickBeeper(); /**< if Robot stands on a black item he can pick one or more Beeper (max. 16 --> Error()); if not --> Error()*/ + void NibbleLeds(int value); /**< methode for the 4 (half byte) yellow LEDs at the back left side */ + void TurnLedOn(int16_t led);/**< turns the specified one or more LEDs ON; description and name in const.h, such as LED_FL1 = 0x01; front LED white */ + void TurnLedOff(int16_t led);/**< turns the specified one or more LEDs OFF; description and name in const.h, such as LED_FL1 = 0x01; front LED white */ + bool WaitUntilButtonPressed(); /**< wait until any button is pressed at the robot */ + void RGBLed(bool red, bool green, bool blue); /**<RGB Led with red, green and blue component of the Color */ + void BlueLedsOFF(); /**< OFF all blue LEDs which are on the same Port 1_28 */ + void BlueLedsON(); /**< ON all blue LEDs which are on the same Port 1_28 */ + void ShutOff(); /**< turnes the robot off */ + int Read(); +}; +#endif \ No newline at end of file