File content as of revision 8:2f81517a2d7c:

#ifndef Bertl14_h
#define Bertl14_h

// 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;
};


const int BTN_FLL = 0x80;
const int BTN_FL  = 0x04;
const int BTN_FM  = 0x01;
const int BTN_FR  = 0x08;
const int BTN_FRR = 0x40;
const int BTN_BL = 0x10;
const int BTN_BM = 0x02;
const int BTN_BR = 0x20;

const int LED_FL1 = 0x01; // white die vordere
const int LED_FL2 = 0x02; // red die hintere
const int LED_FR1 = 0x04; // white
const int LED_FR2 = 0x08; // red
const int LED_ALL_FRONT = 0x0F;

const int LED_BL1 = 0x20; // red back left outher
const int LED_BL2 = 0x10; // red back left inner
const int LED_BR1 = 0x80; // red back right outher
const int LED_BR2 = 0x40; // red back right inner
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();

    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;
};

#ifndef ANALOGIN_HL
#define ANALOGIN_HL
class AnalogInHL : public AnalogIn
{
public:
    AnalogInHL(PinName pin) : AnalogIn(pin) { }
    int Read() {
        return read_u16()>>6;
    }
};
#endif

#endif