Lib for Bulme Bertl
Dependents: BertlPingPong BertlTemplate LineSensTest MotorTest2 ... more
Diff: Bertl14.h
- Revision:
- 7:20c3213c3ada
- Parent:
- 6:78243412d2b3
--- a/Bertl14.h Thu Mar 05 17:39:16 2015 +0000 +++ b/Bertl14.h Thu Nov 19 08:11:19 2015 +0000 @@ -2,25 +2,32 @@ #ifndef Bertl14_h #define Bertl14_h -class Motor { - public: - Motor(PinName pwm, PinName fwd, PinName rev); - void SetPow(float aPow); - protected: +// V 3.0 + +class Motor +{ +public: + Motor(PinName pwm, PinName fwd, PinName rev); + void SetBrake(int aOnOff); + void SetPow(float aPow); + void SetPow2(float aPow); +protected: PwmOut _pwm; DigitalOut _fwd; DigitalOut _rev; + int16_t _running; }; -class BertlDrive : public Motor { - public: - int16_t encCnt; - public: - BertlDrive(PinName pwm, PinName fwd, PinName rev, PinName encoder); - void Init(); - private: - void EncoderISR(); - InterruptIn _enc; +class BertlDrive : public Motor +{ +public: + int16_t encCnt; +public: + BertlDrive(PinName pwm, PinName fwd, PinName rev, PinName encoder); + void Init(); +private: + void EncoderISR(); + InterruptIn _enc; }; @@ -46,65 +53,72 @@ const int LED_ALL_BACK = 0xF0; -class PortEx { - public: - // Current State of Buttons is refreshed with ReadButtons() - int16_t btns; - uint8_t btnEvent; - uint8_t useISR; - public: - PortEx(); - void Init(); - - void SetLedPort(uint8_t aBitPattern); // NO local Bit-OR - void SetLeds(uint8_t aBitPattern); - void ToggleLeds(uint8_t aBitPattern); - void ClearLeds(); - - void ReadButtons(); - void WaitUntilButtonPressed(); - void WaitUntilFrontButtonPressed(); +class PortEx +{ +public: + // Current State of Buttons is refreshed with ReadButtons() + int16_t btns; + uint8_t btnEvent; + uint8_t useISR; +public: + PortEx(); + void Init(); + + void SetLedPort(uint8_t aBitPattern); // NO local Bit-OR + void SetLeds(uint8_t aBitPattern); + void ToggleLeds(uint8_t aBitPattern); + void ClearLeds(); - bool IsButton(int aBitPattern) - { return btns & aBitPattern; } - - bool IsAnyFrontButton() - { return btns & (BTN_FL|BTN_FM|BTN_FR); } - - bool IsAnyBackButton() - { return btns & (BTN_BL|BTN_BM|BTN_BR); } - private: - uint8_t _currLeds; - void p6ISR(); - I2C _i2c; - const int DEV = 0x40; - InterruptIn _p6Event; + void ReadButtons(); + void WaitUntilButtonPressed(); + void WaitUntilFrontButtonPressed(); + + bool IsButton(int aBitPattern) { + return btns & aBitPattern; + } + + bool IsAnyFrontButton() { + return btns & (BTN_FL|BTN_FM|BTN_FR); + } + + bool IsAnyBackButton() { + return btns & (BTN_BL|BTN_BM|BTN_BR); + } +private: + uint8_t _currLeds; + void p6ISR(); + I2C _i2c; + const int DEV = 0x40; + InterruptIn _p6Event; }; -class UsDistSens { - public: - UsDistSens(PinName pinTrigger, PinName pinEcho); - void StartMeas(); - private: - void RisingISR(); - void FallingISR(); - private: - DigitalOut trigger; - InterruptIn echo; - Timer stw; - public: - int dist; - float distCM; +class UsDistSens +{ +public: + UsDistSens(PinName pinTrigger, PinName pinEcho); + void StartMeas(); +private: + void RisingISR(); + void FallingISR(); +private: + DigitalOut trigger; + InterruptIn echo; + Timer stw; +public: + int dist; + float distCM; }; #ifndef ANALOGIN_HL #define ANALOGIN_HL -class AnalogInHL : public AnalogIn { - public: - AnalogInHL(PinName pin) : AnalogIn(pin) { } - int Read() - { return read_u16()>>6; } +class AnalogInHL : public AnalogIn +{ +public: + AnalogInHL(PinName pin) : AnalogIn(pin) { } + int Read() { + return read_u16()>>6; + } }; #endif