Dominik Gößler
/
Bertl
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Fork of
Bertl
by 
Franz Pucher
Diff: ur_Bertl.cpp
- Revision:
- 7:e7f74f072564
- Parent:
- 6:df6830254e8b
- Child:
- 12:cedc088eaf05
diff -r df6830254e8b -r e7f74f072564 ur_Bertl.cpp
--- a/ur_Bertl.cpp Fri Apr 10 09:31:54 2015 +0000
+++ b/ur_Bertl.cpp Mon Apr 13 15:28:10 2015 +0000
@@ -1,11 +1,12 @@
/***********************************
-name: ur_Bertl.cpp Version: 2.0
+name: ur_Bertl.cpp Version: 2.1
author: PE HTL BULME
email: pe@bulme.at
WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/
description:
Implementation portion of class ur_Bertl The Robot
- boolean commands added for if/else, while, ...
+ boolean commands added for if/else, while, ...
+ int ReturnButtonPressed() added which returns the int value of button pressed
***********************************/
#include "mbed.h"
#include "config.h"
@@ -282,6 +283,22 @@
return wert;
}
+int ur_Bertl::ReturnButtonPressed()
+{
+ char cmd[3]; // array for I2C
+ int16_t btns;
+
+ cmd[0] = 0x06;
+ cmd[1] = 0x00;
+ i2c.write(addr, cmd, 2);
+
+ cmd[0]=0x01;
+ i2c.write(addr, cmd, 1);
+ i2c.read(addr|1, cmd, 1);
+ btns = cmd[0];
+ DEBUG_PRINT("Button: %d", btns);
+ return btns;
+}
// Protected methodes
int ur_Bertl::bottomIsBlack()