Revision 17:308802267a62, committed 2015-11-12

Comitter:

fpucher

Date:

Thu Nov 12 19:05:56 2015 +0000

Parent:

16:9ec833d98d0d

Child:

18:9480a699f9b7

Commit message:

Leds work now

Changed in this revision

--- a/Robot.h	Thu Nov 12 09:05:05 2015 +0000
+++ b/Robot.h	Thu Nov 12 19:05:56 2015 +0000
@@ -31,5 +31,6 @@
     bool facingEast();       // is the robot facing East?
     bool facingWest();       // is the robot facing West?
     bool anyBeepersInBeeperBag();    //are there any beepers in the bag?
-};
+    
+ };
 #endif
\ No newline at end of file

--- a/const.h	Thu Nov 12 09:05:05 2015 +0000
+++ b/const.h	Thu Nov 12 19:05:56 2015 +0000
@@ -31,14 +31,14 @@
 \warning maybe the number has to be adjusted */
 const int ANGLE = 12;      /*  nearly 90 degree turn left */
 
-const int BTN_FLL = 0x80;   //  button front left outer 
-const int BTN_FL  = 0x04;   // button front left
-const int BTN_FM  = 0x01;   // button front middle
-const int BTN_FR  = 0x08;   // button front right 
-const int BTN_FRR = 0x40;   // button front right outer
-const int BTN_BL  = 0x10;   // button back left
-const int BTN_BM  = 0x02;   // button back middle
-const int BTN_BR  = 0x20;   // button back right
+const int BTN_FLL = 0x80;   /**<   button front left outer */
+const int BTN_FL  = 0x04;   /**< button front left */
+const int BTN_FM  = 0x01;   /**< button front middle*/
+const int BTN_FR  = 0x08;   /**< button front right */
+const int BTN_FRR = 0x40;   /**< button front right outer*/
+const int BTN_BL  = 0x10;   /**< button back left*/
+const int BTN_BM  = 0x02;   /**< button back middle*/
+const int BTN_BR  = 0x20;   /**< button back right*/
 
 const int LED_FL1 = 0x01;   /**<  front LED white */
 const int LED_FL2 = 0x02;   /**< front LED yellow */

--- a/ur_Bertl.cpp	Thu Nov 12 09:05:05 2015 +0000
+++ b/ur_Bertl.cpp	Thu Nov 12 19:05:56 2015 +0000
@@ -29,6 +29,7 @@
     _interrupt.rise(this, &ur_Bertl::increment);    // attach increment function of this counter instance ie. motor sensor
     _count = 0;
     beepersInBag = 0;
+    TurnLedOff(0xFF);
 }
 
 ur_Bertl::ur_Bertl(PinName pin) :  _interrupt(pin)  // create the InterruptIn on the pin specified to Counter
@@ -42,6 +43,7 @@
     _interrupt.rise(this, &ur_Bertl::increment);    // attach increment function of this counter instance ie. motor sensor
     _count = 0;
     beepersInBag = 0;
+   TurnLedOff(0xFF);
 }
 
 // Pulblic methodes
@@ -146,6 +148,7 @@
 
 void ur_Bertl::TurnLedOn(int16_t led)
 {
+    leds = leds | led;
     char cmd[3];
 
     if(led == 0xBB) {
@@ -156,13 +159,14 @@
         LED_blue=0;
     }
     cmd[0] = 0x02;
-    cmd[1] = ~led;
+    cmd[1] = ~leds;
     i2c.write(addr, cmd, 2);
     wait(0.5);
 }
 
 void ur_Bertl::TurnLedOff(int16_t led)
 {
+    leds = leds & ~led;
     char cmd[3];
     if(led == 0xBB) {
         LED_blue=1;
@@ -172,7 +176,7 @@
         LED_blue=1;
     }
     cmd[0] = 0x02;
-    cmd[1] = led;
+    cmd[1] = ~leds;
     i2c.write(addr, cmd, 2);
     wait(0.5);
 }

--- a/ur_Bertl.h	Thu Nov 12 09:05:05 2015 +0000
+++ b/ur_Bertl.h	Thu Nov 12 19:05:56 2015 +0000
@@ -133,6 +133,7 @@
     int16_t btns;           /**< which button is pressed */
     InterruptIn _interrupt; /**< interrupted used*/
     volatile int _count;    /**< values of motor sensor*/
+    int16_t leds;               /**< save led status*/
 
     /**
     protected methodes for internal purposes only
@@ -166,6 +167,8 @@
     void BlueLedsOFF();         /**< OFF all blue LEDs which are on the same Port 1_28 */   
     void BlueLedsON();          /**< ON all blue LEDs which are on the same Port 1_28 */   
     int Read();
+       bool IsLedOn(const int led);
+
 };
 /********************************************//**
  name:   Bertl.h \n