File content as of revision 1:01bc0c86f111:

#include <mbed.h>
//LED-Defines
#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
#define LED_FR_YELLOW 0x08      // 0b0000 1000, BERTL FORWARD Right-Side YELLOW-LED
#define LED_BL_RED 0x10         // 0b0001 0000, BERTL BACKWARD Left-Side RED-LED
#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 PC9555 Routines
#define PC9555_ADDR 0x40 //A2 = A1 = A0 = 0
#define PC9555_FREQUENCY 100000 // fI2C in Hz
// PC9555 Commands
#define PC9555_PORT0_IN (0)
#define PC9555_PORT1_IN (1)
#define PC9555_PORT0_OUT (2)
#define PC9555_PORT1_OUT (3)
#define PC9555_PORT0_INV (4)
#define PC9555_PORT1_INV (5)
#define PC9555_PORT0_DIRCONFIG (6)
#define PC9555_PORT1_DIRCONFIG (7)

// Motor Routines
void bertl_engine(int left, int right);
void bertl_engine_test();

// PC9555 routines
void bertl_PC9555_init();
void bertl_PC9555_leds(unsigned char leds);
unsigned char bertl_PC9555_switches();