Diff: bertl14.h

Revision:

2:d9f2452ba88d

Parent:

1:01bc0c86f111

Child:

3:4326e2654adb

--- a/bertl14.h	Mon Jan 25 11:44:13 2016 +0000
+++ b/bertl14.h	Sun Jan 31 16:44:34 2016 +0000
@@ -1,5 +1,6 @@
 #include <mbed.h>
 //LED-Defines
+#define LED_OFF 0x00            // All Leds are off
 #define LED_FL_WHITE 0x01       // 0b0000 0001, BERTL FORWARD Left-Side WHITE-LED
 #define LED_FL_YELLOW 0x02      // 0b0000 0010, BERTL FORWARD Left-Side YELLOW-LED
 #define LED_FR_WHITE 0x04       // 0b0000 0100, BERTL FORWARD Right-Side WHITE-LED
@@ -8,9 +9,28 @@
 #define LED_BL_YELLOW 0x20      // 0b0010 0000, BERTL BACKWARD Left-Side YELLOW-LED
 #define LED_BR_RED 0x40         // 0b0100 0000, BERTL BACKWARD Right-Side RED-LED
 #define LED_BR_YELLOW 0x80      // 0b1000 0000, BERTL BACKWARD Right-Side YELLOW-LED
+#define LED_ON 0xFF             // All Leds are on
 
+#define LED_R_YELLOW (LED_FR_YELLOW|LED_BR_YELLOW)          //Right Side, YELLOW-LEDs are on
+#define LED_L_YELLOW (LED_FL_YELLOW|LED_BL_YELLOW)          //Left Side, YELLOW-LEDs are on
+#define LED_F_WHITE (LED_FL_WHITE|LED_FR_WHITE)             //Forward, WHITE-LEDs are on
+#define LED_B_RED (LED_BL_RED|LED_BR_RED)                   //Backward, RED LEDs are on
+#define LED_B_ALL (LED_B_RED|LED_BL_YELLOW|LED_BR_YELLOW)   //Backward, All LEDs are on
+#define LED_F_ALL (LED_F_WHITE|LED_FL_YELLOW|LED_FR_YELLOW) //Forward, All LEDs are on
+//--------------------------------------
+// Switches:
+// Switch TA1: DEZ = 1
+// Switch TA2: DEZ = 2
+// Switch TA3: DEZ = 4
+// Switch TA4: DEZ = 8
+// Switch TA5: DEZ = 16
+// Switch TA6: DEZ = 32
+// Switch TA7: DEZ = 64
+// Switch TA8: DEZ = 128
+//--------------------------------------
 // Define PC9555 Routines
-#define PC9555_ADDR 0x40 //A2 = A1 = A0 = 0
+#define PC9555_ADDR_W 0x40 //A2 = A1 = A0 = 0, WRITE-ADRESS
+#define PC9555_ADDR_R 0x41 // READ-ADRESS, to set the Read-bit
 #define PC9555_FREQUENCY 100000 // fI2C in Hz
 // PC9555 Commands
 #define PC9555_PORT0_IN (0)
@@ -21,7 +41,14 @@
 #define PC9555_PORT1_INV (5)
 #define PC9555_PORT0_DIRCONFIG (6)
 #define PC9555_PORT1_DIRCONFIG (7)
-
+// Define Motor Routines
+#define ENGINE_LEFT_BACKWARD P1_0       //IN1, EP10, MG1A => MG1 engine-Pin 2, left_Reverse
+#define ENGINE_LEFT_FORWARD P1_1        //IN2, EP11, MG1B => MG1 engine-Pin 1, left_Forward
+#define ENGINE_ENABLE_LEFT P1_15        //EN1, P34, left_ENABLE
+#define ENGINE_RIGHT_REVERSE P1_4       //IN4, EP13, MG2A => MG2 engine-Pin 2, right_Reverse
+#define ENGINE_RIGHT_FORWARD P1_3       //IN3, EP14, MG2B => MG2 engine-Pin 1, right_Forward
+#define ENGINE_ENABLE_RIGHT P0_21       //EN2, P36, right_ENABLE
+#define MAX_PWM 255                     //Define the MAX Value of the PWM
 // Motor Routines
 void bertl_engine(int left, int right);
 void bertl_engine_test();