Diff: bertl.cpp
- Revision:
- 0:09cac0d76c5e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/bertl.cpp Mon Mar 07 11:51:28 2016 +0000
@@ -0,0 +1,109 @@
+/****************************
+Bertl engine&I2C Lib. rework
+
+2.2.2016
+
+by Dominik Sukic
+with help from Kevin Heinrich
+*****************************/
+
+#include <mbed.h>
+#include "bertl.h"
+// Define Motor Routines
+DigitalOut engineLR(P1_0); //IN1, EP10, MG1 engine-Pin 2
+DigitalOut engineLF(P1_1); //IN2, EP11, MG1 engine-Pin 1
+PwmOut engineLEN(p34); //EN1, P34
+DigitalOut engineRR(P1_4); //IN4, EP13, MG2 engine-Pin 2
+DigitalOut engineRF(P1_3); //IN3, EP14, MG2 engine-Pin 1
+PwmOut engineREN(p36); //EN2, P36
+
+// Define PC9555 Routines
+I2C pc9555(P0_5, P0_4);// SDA, SCL
+
+//Start PC9555 Routines
+void bertl_PC9555_init()
+{
+ char data[2];
+ // I2C-Initialisierung
+ pc9555.frequency(PC9555_FREQUENCY);
+ // Port 0 = Leds, Port 1 = Switches
+ // Adresse, R/W# = 0, Config PORT 0 (6) = 0x00(= Output), Stop
+ data[0] = PC9555_PORT0_DIRCONFIG;
+ data[1] = 0x00;
+ pc9555.write(PC9555_ADDR_W, data, 2);
+ // Adresse, R/W# = 0, Config PORT 1 (7) = 0xFF(= Input), Stop
+ data[0] = PC9555_PORT1_DIRCONFIG;
+ data[1] = 0xFF;
+ pc9555.write(PC9555_ADDR_W, data, 2);
+}
+
+void bertl_PC9555_leds(unsigned char leds)
+{
+ char data[2]; //Two Bytes for Transmitt via I2C
+ // Send leds to PORT0 of PC9555 via I2C:
+ // Start, Address, RW# = 0, CMD PC9555_PORT0_OUT, leds, STOP
+ data[0] = PC9555_PORT0_OUT;
+ data[1] = ~leds; //bitwise inversion since Hardware is switched on with 0 (inverse logic)
+ pc9555.write(PC9555_ADDR_W, data, 2);
+}
+
+unsigned char bertl_PC9555_switches()
+{
+ char taster;
+
+ pc9555.start(); // Start PC9555 to write the Adress
+ pc9555.write(PC9555_ADDR_W); // Write the WRITE-Adress
+ pc9555.write(0x01); // To define the Switches
+ pc9555.start(); // Start PC9555 again to read the Values
+ pc9555.write(PC9555_ADDR_R); // Set the READ_bit
+ taster = pc9555.read(0); // Read the Value of the Switches
+ pc9555.stop(); // Stop the I2C
+
+ return taster; // Return the value
+
+}
+// END PC9555 Routines
+
+//Experimental
+bool checkbitFront()
+{
+ 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
+
+ return Frontbuttons; //returns true if set
+}
+bool checkbitBack()
+{
+ 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
+
+ return Backbuttons; //returns true if set
+}
+
+// Begin Motor Routines
+void bertl_engine(int left, int right)
+{
+ // If the left engines-value is greater than 0, the left engine turn FORWARD
+ if(left > 0) {
+ engineLF=1;
+ engineLR=0;
+ }
+ // Or if the left engines-value is less than 0, the left engine turn REVERSE
+ else if(left < 0) {
+ engineLF=0;
+ engineLR=1;
+ left = left * (-1); // For PWM the Value have to be positive
+ }
+ // If the right engines-value is greater than 0, the right engine turn FORWARD
+ if(right > 0) {
+ engineRF=1;
+ engineRR=0;
+ }
+ // Or if the right engines-value is less than 0, the right engine turn REVERSE
+ else if(right < 0) {
+ engineRF=0;
+ engineRR=1;
+ right = right * (-1); // For PWM the Value have to be positive
+ }
+ // Or if the right- or/and the left engines value equals 0, the ENABLE-Pin turn off
+ engineLEN=(left/255.0);
+ engineREN=(right/255.0);
+}
\ No newline at end of file
Dominik Sukic