Revision 5:6b667e2cb800, committed 2015-04-10

Comitter:

bulmecisco

Date:

Fri Apr 10 07:12:07 2015 +0000

Parent:

4:76acfddc26fb

Child:

6:df6830254e8b

Commit message:

Button test added: IsButtonPressed.

Changed in this revision

--- a/ur_Bertl.cpp	Tue Apr 07 12:30:39 2015 +0000
+++ b/ur_Bertl.cpp	Fri Apr 10 07:12:07 2015 +0000
@@ -260,6 +260,28 @@
     wait_ms(250);
 }
 
+bool ur_Bertl::IsButtonPressed(const int btn)
+{
+    char cmd[3];            // array for I2C
+    int16_t btns;
+    bool wert;
+
+    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];
+    if( btns & btn)
+        wert = true;
+    else
+        wert = false;
+    DEBUG_PRINT("WERT: %d", wert);
+    return wert;
+}
+
 // Protected methodes
 
 int ur_Bertl::bottomIsBlack()
@@ -314,6 +336,8 @@
     return wert;
 }
 
+
+
 //-----------------INTERNAL USE ONLY ----------------------------
 void ur_Bertl::error()
 {

--- a/ur_Bertl.h	Tue Apr 07 12:30:39 2015 +0000
+++ b/ur_Bertl.h	Fri Apr 10 07:12:07 2015 +0000
@@ -152,6 +152,7 @@
     bool WaitUntilButtonPressed();  /**< wait until any button is pressed at the robot */
     bool FrontIsClear();        /**< returns a boolean value true if front is free; if not false */ 
     bool NextToABeeper();       /**< returns a boolean value true if the robot is on a black place or line; if not --> false */ 
+    bool IsButtonPressed(const int btn);
     int AnyBeeperInBag();       /**< returns an int value (if > 0 equal true) how many beepers in bag; if zero --> false */ 
     void NibbleLeds(int value); /**< methode for the 4 (half byte) yellow LEDs at the back left side; ie. you can show how many beeper a robot has in his bag with: karel.NibbleLeds(karel.AnyBeeperInBag())*/
     void TurnLedOn(int16_t led);/**< turns the specified one or more LEDs ON; description and name in const.h, such as LED_FL1 = 0x01; front LED white */