Psi Swarm Robot / PsiSwarmV8_CPP

C++ Library for the PsiSwarm Robot - Version 0.8

Dependents:   PsiSwarm_V8_Blank_CPP Autonomia_RndmWlk

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Led Class Reference
Public Member Functions

Led Class Reference

Led class Functions to control the various LEDs on the robot. More...

#include <led.h>

Public Member Functions

void set_leds (char green, char red)
 Set all 8 outer LEDs to the defined colour sequence.
void set_green_leds (char green)
 Set the green component of all 8 outer LEDs to the defined colour sequence.
void set_red_leds (char red)
 Set the red component of all 8 outer LEDs to the defined colour sequence.
void set_led (char led, char state)
 Set the state of an invididual outer LED without affecting other LEDs.
void set_base_led (char state)
 Set the state of the base LEDs [if fitted].
void blink_leds (float timeout)
 Turns on all outer LEDs for a period of time defined by timeout then restore their previous state.
void set_center_led (char state)
 Set the state the center LED.
void set_center_led (char state, float brightness)
 Set the state the center LED with brightness control.
void set_center_led_brightness (float brightness)
 Set the brightness of center LED without changing state.
unsigned short get_led_states (void)
 Returns the current state of the outer LEDs.
void save_led_states (void)
 Store the current LED states for use with restore_led_states()
void restore_led_states (void)
 Restore the LED states to those set usign store_led_states()

Detailed Description

Led class Functions to control the various LEDs on the robot.

Example: 

 #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)
 }

Definition at line 42 of file led.h.

Member Function Documentation

void blink_leds ( float  timeout )

Turns on all outer LEDs for a period of time defined by timeout then restore their previous state.

Parameters:
timeout- The time (in seconds) to keep LEDs on

Definition at line 71 of file led.cpp.

unsigned short get_led_states ( void   )

Returns the current state of the outer LEDs.

Returns:
A 16-bit value when MSB represent the green states and LSB the red states of the 8 LEDs

Definition at line 33 of file led.cpp.

void restore_led_states ( void   )

Restore the LED states to those set usign store_led_states()

Definition at line 118 of file led.cpp.

void save_led_states ( void   )

Store the current LED states for use with restore_led_states()

Definition at line 112 of file led.cpp.

void set_base_led ( char  state )

Set the state of the base LEDs [if fitted].

Parameters:
state- 0 for off, 1 for on

Definition at line 45 of file led.cpp.

void set_center_led ( char  state )

Set the state the center LED.

Parameters:
state- 0 for off, 1 for red, 2 for green, 3 for orange

Definition at line 78 of file led.cpp.

void set_center_led ( char  state,
float  brightness 
)

Set the state the center LED with brightness control.

Parameters:
state- 0 for off, 1 for red, 2 for green, 3 for orange
brightness- brightness of LED [PWM duty cycle] - range 0.0 to 1.0

Definition at line 83 of file led.cpp.

void set_center_led_brightness ( float  brightness )

Set the brightness of center LED without changing state.

Parameters:
brightness- brightness of LED [PWM duty cycle] - range 0.0 to 1.0

Definition at line 107 of file led.cpp.

void set_green_leds ( char  green )

Set the green component of all 8 outer LEDs to the defined colour sequence.

Parameters:
green- An 8-bit description of the green leds eg(0b00000001) means that LED 7 green is on, rest are off

Definition at line 50 of file led.cpp.

void set_led ( char  led,
char  state 
)

Set the state of an invididual outer LED without affecting other LEDs.

Parameters:
led- The LED to change state of (range 0 to 7)
state- 0 for off, 1 for red, 2 for green, 3 for orange

Definition at line 62 of file led.cpp.

void set_leds ( char  green,
char  red 
)

Set all 8 outer LEDs to the defined colour sequence.

Parameters:
green- An 8-bit description of the green leds eg(0b00000001) means that LED 7 green is on, rest are off
red- An 8-bit description of the red leds eg(0b11111110) means that LED 7 red is off, rest are on

Definition at line 38 of file led.cpp.

void set_red_leds ( char  red )

Set the red component of all 8 outer LEDs to the defined colour sequence.

Parameters:
red- An 8-bit description of the red leds eg(0b11111110) means that LED 7 red is off, rest are on

Definition at line 56 of file led.cpp.

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