C++ Library for the PsiSwarm Robot - Version 0.8
Dependents: PsiSwarm_V8_Blank_CPP Autonomia_RndmWlk
Fork of PsiSwarmV7_CPP by
Diff: led.h
- Revision:
- 9:dde9e21030eb
- Parent:
- 6:b340a527add9
--- a/led.h Sun Oct 16 12:54:33 2016 +0000 +++ b/led.h Sun Oct 16 14:12:49 2016 +0000 @@ -1,11 +1,11 @@ /* University of York Robotics Laboratory PsiSwarm Library: LED Functions Header File - * + * * Copyright 2016 University of York * - * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. + * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and limitations under the License. * * File: led.h @@ -13,30 +13,100 @@ * (C) Dept. Electronics & Computer Science, University of York * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis * - * PsiSwarm Library Version: 0.7 + * PsiSwarm Library Version: 0.8 * * October 2016 * * - */ + */ #ifndef LED_H #define LED_H -unsigned short get_led_states(void); -void set_leds(char green, char red); -void set_green_leds(char green); -void set_red_leds(char red); -void set_led(char led, char state); -void set_base_led(char state); -void blink_leds(float timeout); -void set_center_led(char state); -void set_center_led(char state, float brightness); -void set_center_led_brightness(float brightness); -void save_led_states(void); -void restore_led_states(void); -void IF_init_leds(void); -void IF_update_leds(void); +/** + * Led class + * Functions to control the various LEDs on the robot + * + * Example: + * @code + * #include "psiswarm.h" + * + * int main() { + * init(); + * led.set_led(0,1); //Set the outer LED number 0 (North) to red + * led.set_led(4,3); //Set the outer LED number 4 (South) to orange (red+green) + * } + * @endcode +*/ +class Led +{ + +public: + + /** Set all 8 outer LEDs to the defined colour sequence + * @param green - An 8-bit description of the green leds eg(0b00000001) means that LED 7 green is on, rest are off + * @param red - An 8-bit description of the red leds eg(0b11111110) means that LED 7 red is off, rest are on + */ + void set_leds(char green, char red); + + /** Set the green component of all 8 outer LEDs to the defined colour sequence + * @param green - An 8-bit description of the green leds eg(0b00000001) means that LED 7 green is on, rest are off + */ + void set_green_leds(char green); + + /** Set the red component of all 8 outer LEDs to the defined colour sequence + * @param red - An 8-bit description of the red leds eg(0b11111110) means that LED 7 red is off, rest are on + */ + void set_red_leds(char red); + + /** Set the state of an invididual outer LED without affecting other LEDs + * @param led - The LED to change state of (range 0 to 7) + * @param state - 0 for off, 1 for red, 2 for green, 3 for orange + */ + void set_led(char led, char state); + /** Set the state of the base LEDs [if fitted] + * @param state - 0 for off, 1 for on + */ + void set_base_led(char state); + + /** Turns on all outer LEDs for a period of time defined by timeout then restore their previous state + * @param timeout - The time (in seconds) to keep LEDs on + */ + void blink_leds(float timeout); + + /** Set the state the center LED + * @param state - 0 for off, 1 for red, 2 for green, 3 for orange + */ + void set_center_led(char state); + + /** Set the state the center LED with brightness control + * @param state - 0 for off, 1 for red, 2 for green, 3 for orange + * @param brightness - brightness of LED [PWM duty cycle] - range 0.0 to 1.0 + */ + void set_center_led(char state, float brightness); + + /** Set the brightness of center LED without changing state + * @param brightness - brightness of LED [PWM duty cycle] - range 0.0 to 1.0 + */ + void set_center_led_brightness(float brightness); + + /** Returns the current state of the outer LEDs + * @return A 16-bit value when MSB represent the green states and LSB the red states of the 8 LEDs + */ + unsigned short get_led_states(void); + + /** Store the current LED states for use with restore_led_states() + */ + void save_led_states(void); + + /** Restore the LED states to those set usign store_led_states() + */ + void restore_led_states(void); + + void IF_init_leds(void); + void IF_update_leds(void); + +}; #endif \ No newline at end of file