Revision 8:e7f74f072564, committed 2015-04-13

Comitter:

bulmecisco

Date:

Mon Apr 13 15:28:10 2015 +0000

Parent:

7:df6830254e8b

Child:

9:07e55b300ff1

Commit message:

int ReturnButtonPressed() added which returns the int value of button pressed

Changed in this revision

--- 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()

--- a/ur_Bertl.h	Fri Apr 10 09:31:54 2015 +0000
+++ b/ur_Bertl.h	Mon Apr 13 15:28:10 2015 +0000
@@ -1,11 +1,12 @@
 /***********************************
-name:   ur_Bertl.h      Version: 2.0
+name:   ur_Bertl.h      Version: 2.1
 author: PE HTL BULME
 email:  pe@bulme.at
 WIKI:   https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/
 description:
         Definition portion of the class ur_Bertl The Robot
         boolean commands added for if/else, while, ...
+        int ReturnButtonPressed() added which returns the int value of button pressed 
 ***********************************/
 #include "mbed.h"
 
@@ -152,7 +153,8 @@
     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);
+    bool IsButtonPressed(const int btn); /**< returns true if Button btn is pressed, else false */
+    int ReturnButtonPressed();  /**< returns the int value of button pressed */
     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 */