Diff: cerica2.h

Revision:

15:f2e702d0047c

Parent:

13:91a699eae3ea

Child:

16:bba1ff6d196e

--- a/cerica2.h	Mon Aug 19 01:33:19 2019 +0000
+++ b/cerica2.h	Wed Sep 18 07:51:42 2019 +0000
@@ -1,35 +1,90 @@
-#include "mbed.h"
+#pragma once
 
-enum WireSel {
-     FEP01,TweLite
-};
+#include "mbed.h"
+#include "QEI.h"
+
+enum WireSel {FEP01,TweLite};
 
 class CERICA
 {
 private:
     DigitalOut wireSelect;
-    
-    I2C *i2c;
+    I2C i2c;
+    PwmOut buz;
+    BusOut leds;
+    BusIn sw;
+    DigitalOut dReset;
+    QEI xEnc;
+    QEI yEnc;
+
     char ADDR;
     bool brake;
     bool isEnc;
-    bool channel;
     long map(long x, long in_min, long in_max, long out_min, long out_max);
     char configData;
     char Div;
-    int minSpd;
+    //int minSpd;
     int maxSpd;
-     
+
 public:
-    CERICA(I2C *i2c_,WireSel WireSel_);
-    
+    CERICA(WireSel WireSel_);
+
+    // Board LED
+    bool LED(int n_,bool l_);
+
+    // Board SW
+    bool SW(int n_)
+    {
+        return (~sw >> n_) & 0x1;
+    }
+
+    // Motor
+    bool Send(bool available_ = 1);
+    void Motor(char sendChannel,int verocity)
+    {
+        power[sendChannel] = verocity;
+    }
+    void maxRange(int maxSpd_)
+    {
+        maxSpd = maxSpd_;
+    }
+    void Set(bool isEnc_ = false,bool brake_ = false)
+    {
+        brake = brake_, isEnc = isEnc_;
+    }
+
+
+    // Speaker
+    void Play(int scale_); // scale = 0 : C0
+    void Stop()
+    {
+        buz = 0;
+    }
+
+    // Encoder
+    int GetX()
+    {
+        return xEnc.getPulses();
+    }
+    int GetY()
+    {
+        return yEnc.getPulses();
+    }
+    void ResetX()
+    {
+        return xEnc.reset();
+    }
+    void ResetY()
+    {
+        return yEnc.reset();
+    }
+
     //bool init(char toMD , bool rvs = false , bool omni = true, bool sound  = false , frequency freq = F256, int channel_ = 0);
-    void mRange(int minSpd_,int maxSpd_);
-    bool motor(bool available_ = 1);
-    void motor(char sendChannel,int verocity);
+
+    //bool motor(bool available_ = 1);
     bool RawMotor(char sendChannel,int verocity);
     bool wait(int waitT);
-    void set(bool isEnc_ = false,bool brake_ = false,int channel_ = 0);
+
     bool SystemReset(char sendChannel);
     bool ConfigReset(char sendChannel);
     bool DscOn(char sendChannel,bool mode);
@@ -37,7 +92,11 @@
     bool DscPortOpen(char sendChannel,bool mode);
     bool SoundOn(char sendChannel,bool mode);
     bool SetDivider(char sendChannel,char pulse);
-    void SetSpeedLimit(int min, int max){ minSpd = min; maxSpd = max; }
+    /*void SetSpeedLimit(int min, int max)
+    {
+        minSpd = min;
+        maxSpd = max;
+    }*/
     int powerOut[16];
     int power[16];
 };
\ No newline at end of file