Diff: Bertl14.h

Revision:

0:e0131e671ea0

Child:

1:cb66be3bb78f

Child:

2:16a5d3302ddb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Bertl14.h	Fri Apr 25 14:35:21 2014 +0000
@@ -0,0 +1,100 @@
+
+#ifndef Bertl14_h
+#define Bertl14_h
+
+class Motor {
+	public:
+		Motor(PinName pwm, PinName fwd, PinName rev);
+		void SetPow(float aPow);
+	protected:
+    PwmOut _pwm;
+    DigitalOut _fwd;
+    DigitalOut _rev;
+};
+
+class BertlDrive : public Motor {
+	public:
+		int16_t encCnt;
+	public:
+		BertlDrive(PinName pwm, PinName fwd, PinName rev, PinName encoder);
+		void Init();
+	private:
+		void EncoderISR();
+		InterruptIn _enc;
+};
+
+
+const int BTN_FLL = 0x80;
+const int BTN_FL  = 0x04;
+const int BTN_FM  = 0x01;
+const int BTN_FR  = 0x08;
+const int BTN_FRR = 0x40;
+const int BTN_BL = 0x10;
+const int BTN_BM = 0x02;
+const int BTN_BR = 0x20;
+
+const int LED_FL1 = 0x01; // white die vordere
+const int LED_FL2 = 0x02; // red die hintere
+const int LED_FR1 = 0x04; // white
+const int LED_FR2 = 0x08; // red
+const int LED_ALL_FRONT = 0x0F;
+
+const int LED_BL1 = 0x20; // red back left outher
+const int LED_BL2 = 0x10; // red back left inner
+const int LED_BR1 = 0x80; // red back right outher
+const int LED_BR2 = 0x40; // red back right inner
+const int LED_ALL_BACK = 0xF0;
+
+
+class PortEx {
+	public:
+		// Current State of Buttons is refreshed with ReadButtons()
+		int16_t btns;
+		uint8_t btnEvent;
+		uint8_t useISR;
+	public:
+		PortEx();
+		void Init();
+		
+		void SetLedPort(uint8_t aBitPattern); // NO local Bit-OR
+		void SetLeds(uint8_t aBitPattern);
+		void ToggleLeds(uint8_t aBitPattern);
+		void ClearLeds();
+		
+		void ReadButtons();
+		void WaitUntilButtonPressed();
+
+		bool IsButton(int aBitPattern)
+			{ return btns & aBitPattern; }
+		
+		bool IsAnyFrontButton()
+			{ return btns & (BTN_FL|BTN_FM|BTN_FR); }
+		
+		bool IsAnyBackButton()
+			{ return btns & (BTN_BL|BTN_BM|BTN_BR); }
+	private:
+		uint8_t _currLeds;
+		void p6ISR();
+		I2C _i2c;
+		const int DEV = 0x40;
+		InterruptIn _p6Event;
+};
+
+
+class UsDistSens {
+	public:
+		UsDistSens(PinName pinTrigger, PinName pinEcho);
+		void StartMeas();
+	private:
+		void RisingISR();
+		void FallingISR();
+	private:
+		DigitalOut trigger;
+		InterruptIn echo;
+		Timer stw;
+	public:
+		int dist;
+		float distCM;
+};
+
+#endif