Dominik Sukic / bertl

bertl.cpp@0:09cac0d76c5e, 2016-03-07 (annotated)

Committer:
DomiSukic
Date:
Mon Mar 07 11:51:28 2016 +0000
Revision:
0:09cac0d76c5e

        

        
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/****************************





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Bertl engine&I2C Lib. rework 





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2.2.2016





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by Dominik Sukic





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with help from Kevin Heinrich





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*****************************/





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#include <mbed.h>





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#include "bertl.h"





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// Define Motor Routines





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DigitalOut engineLR(P1_0);      //IN1, EP10, MG1 engine-Pin 2





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DigitalOut engineLF(P1_1);      //IN2, EP11, MG1 engine-Pin 1





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PwmOut engineLEN(p34);          //EN1, P34





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DigitalOut engineRR(P1_4);      //IN4, EP13, MG2 engine-Pin 2





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DigitalOut engineRF(P1_3);      //IN3, EP14, MG2 engine-Pin 1





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PwmOut engineREN(p36);          //EN2, P36





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// Define PC9555 Routines





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I2C pc9555(P0_5, P0_4);// SDA, SCL





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//Start PC9555 Routines





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void bertl_PC9555_init()





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{





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    char data[2];





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    // I2C-Initialisierung





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    pc9555.frequency(PC9555_FREQUENCY);





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    // Port 0 = Leds, Port 1 = Switches





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    // Adresse, R/W# = 0, Config PORT 0 (6) = 0x00(= Output), Stop





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    data[0] = PC9555_PORT0_DIRCONFIG;





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    data[1] = 0x00;





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    pc9555.write(PC9555_ADDR_W, data, 2);





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    // Adresse, R/W# = 0, Config PORT 1 (7) = 0xFF(= Input), Stop





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    data[0] = PC9555_PORT1_DIRCONFIG;





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    data[1] = 0xFF;





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    pc9555.write(PC9555_ADDR_W, data, 2);





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}





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void bertl_PC9555_leds(unsigned char leds)





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{





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    char data[2];   //Two Bytes for Transmitt via I2C





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    // Send leds to PORT0 of PC9555 via I2C:





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    // Start, Address, RW# = 0, CMD PC9555_PORT0_OUT, leds, STOP





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    data[0] = PC9555_PORT0_OUT;





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    data[1] = ~leds;    //bitwise inversion since Hardware is switched on with 0 (inverse logic)





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    pc9555.write(PC9555_ADDR_W, data, 2);





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}





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unsigned char bertl_PC9555_switches()





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{





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    char taster;





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    pc9555.start();                     // Start PC9555 to write the Adress





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    pc9555.write(PC9555_ADDR_W);    // Write the WRITE-Adress





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    pc9555.write(0x01);             // To define the Switches





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    pc9555.start();                     // Start PC9555 again to read the Values





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    pc9555.write(PC9555_ADDR_R);    // Set the READ_bit





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    taster = pc9555.read(0);        // Read the Value of the Switches





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    pc9555.stop();                      // Stop the I2C





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    return taster;                    // Return the value





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}





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// END PC9555 Routines





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//Experimental





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bool checkbitFront()





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{





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    bool Frontbuttons = CHECK_BIT(bertl_PC9555_switches(), 7) | CHECK_BIT(bertl_PC9555_switches(), 6) | CHECK_BIT(bertl_PC9555_switches(), 2) | CHECK_BIT(bertl_PC9555_switches(), 0); //Checks if a bit of the front buttons is set





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    return Frontbuttons; //returns true if set





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}





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bool checkbitBack()





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{





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    bool Backbuttons = CHECK_BIT(bertl_PC9555_switches(), 5) | CHECK_BIT(bertl_PC9555_switches(), 4) | CHECK_BIT(bertl_PC9555_switches(), 1); //Checks if a bit of the back buttons is set





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    return Backbuttons; //returns true if set





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}





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// Begin Motor Routines





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void bertl_engine(int left, int right)





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{





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    // If the left engines-value is greater than 0, the left engine turn FORWARD





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    if(left > 0) {





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        engineLF=1;





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        engineLR=0;





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    }





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    // Or if the left engines-value is less than 0, the left engine turn REVERSE





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    else if(left < 0) {





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        engineLF=0;





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        engineLR=1;





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        left = left * (-1);         // For PWM the Value have to be positive





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    }





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    // If the right engines-value is greater than 0, the right engine turn FORWARD





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    if(right > 0) {





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        engineRF=1;





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        engineRR=0;





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    }





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    // Or if the right engines-value is less than 0, the right engine turn REVERSE





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    else if(right < 0) {





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        engineRF=0;





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        engineRR=1;





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        right = right * (-1);       // For PWM the Value have to be positive





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    }





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    // Or if the right- or/and the left engines value equals 0, the ENABLE-Pin turn off





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    engineLEN=(left/255.0);





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    engineREN=(right/255.0);





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}