Diff: ShieldBot_v12.h

Revision:

1:1d96ab1dbcc4

Parent:

0:7535295d1670

--- a/ShieldBot_v12.h	Wed Sep 09 05:53:29 2015 +0000
+++ b/ShieldBot_v12.h	Tue Sep 15 13:40:55 2015 +0000
@@ -1,23 +1,24 @@
-/** Color pixels library using WS2812B and nRF51822 (16Hz)
- *  It's for
- *    + http://www.seeedstudio.com/depot/Digital-RGB-LED-FlexiStrip-60-LED-1-Meter-p-1666.html
- *    + http://www.seeedstudio.com/depot/WS2812B-Digital-RGB-LED-Waterproof-FlexiStrip-144-LEDmeter-2-meter-p-1869.html
- *    + http://www.seeedstudio.com/depot/WS2812B-RGB-LED-with-Integrated-Driver-Chip-10-PCs-pack-p-1675.html
+/*    
+ * ShieldBot_v12.h
+ * A library for ShieldBot
+ *   
+ * Copyright (c) 2015 seeed technology inc.  
+ * Author      : Jiankai.li
+ * Create Time:  Sep  2015
+ * Change Log : 
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2014 Seeed Technology Inc.
- *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
-
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
-
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -27,19 +28,14 @@
  * THE SOFTWARE.
  */
 
+
+// ensure this library description is only included once
+
 #ifndef __SHIELDBOT_V12_H__
 #define __SHIELDBOT_V12_H__
 
 #include <stdint.h>
 
-typedef union {
-    uint32_t rgb;
-    struct {
-        uint8_t r;
-        uint8_t g;
-        uint8_t b;
-    };
-} color_t;
 
 /** Color pixels class using WS2812B and nRF51822 (16Hz)
  *
@@ -59,53 +55,34 @@
  * }
  * @endcode
  */
-class ColorPixels
+ 
+// library interface description
+class Shieldbot
 {
-public:
-    /** Initilaze
-     * \param pin    number of GPIO
-     * \param num    number of pixels
-     */
-    ColorPixels(uint8_t pin, uint16_t num);
-
-    ~ColorPixels();
-
-    /** Set the color of a pixel (without update)
-     * \param index  index of a pixel
-     * \param r      red
-     * \param g      green
-     * \param b      blue
-     */
-    void set_color(uint16_t index, uint8_t r, uint8_t g, uint8_t b);
-
-    void set_color(uint16_t index, uint32_t rgb);
-    
-    void set_all_color(uint8_t r, uint8_t g, uint8_t b);
-    
-    void rainbow(uint8_t r, uint8_t g, uint8_t b);
-
-    void rainbow(uint32_t rgb = 0x0000FF);
-
-    /** Update
-     */
-    void update();
-
-    /** Turn off all pixels
-     */
-    void clear();
-
-private:
-    typedef union {
-        struct {
-            uint8_t g, r, b;
-        };
-        uint32_t grb;
-    } grb_t;
-
-    uint8_t  pin;
-    uint16_t num;
-    grb_t *colors;
+  // user-accessible "public" interface
+  public:
+    Shieldbot();
+    int readS1();
+    int readS2();
+    int readS3();
+    int readS4();
+    int readS5();
+    void setMaxSpeed(int);
+    void setMaxSpeed(int, int);
+    void setMaxLeftSpeed(int);
+    void setMaxRightSpeed(int);
+    void rightMotor(signed char);
+    void leftMotor(signed char);
+    void drive(signed char, signed char);
+    void forward();
+    void backward();
+    void stop();
+    void stopRight();
+    void stopLeft();
+    void fastStopLeft();
+    void fastStopRight();
+    void fastStop();
 
 };
 
-#endif // __COLOR_PIXELS_H__
+#endif