Diff: led.h

Revision:

9:dde9e21030eb

Parent:

6:b340a527add9

Child:

16:50686c07ad07

--- 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