Diff: Bot_Auxiliaries.h

Revision:

0:32b17da1ddae

diff -r 000000000000 -r 32b17da1ddae Bot_Auxiliaries.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Bot_Auxiliaries.h	Wed Oct 31 14:22:26 2018 +0000
@@ -0,0 +1,101 @@
+
+#ifndef BOT_AUXILIARIES_H
+#define BOT_AUXILIARIES_H
+
+#include "mbed.h"
+#include "LED_WS2812.h"
+
+
+// Put the LED names in the order they are chained up 
+enum LED_Nr{ ledAvG, ledAvD, ledArD, ledArG, NumLEDs };
+
+
+// *****************************************************************
+// Handle all the LEDs with some general function wrappers functions
+// *****************************************************************
+
+/** Control 4 LEDs around the Car: front / rear, left / right
+ *
+ * Example:
+ * @code
+ * // --- Define the PIN where the LED band is connected -----
+ * LED_CAR ledBand(PB_5,4);
+ * Setup rainbow colors for the ledBand
+ * ledBand.LEDsRainbow();
+ * Rotate the colors for the ledBand
+ * ledBand.StartRotation(0.6) ;
+ * Turn off the LEDs:
+ * ledBand.LEDsOff();
+ * @endcode
+ */
+
+
+class LED_CAR: public LED_WS2812
+{
+  public:
+   /** Create a Car-LED object to control the four LEDs around the car
+     *
+     *  @param PinName Pin Name through wich the LEDs are controlled
+     *  @param _nbLeds Number of LEDs actually implemented, defaults to 4
+     */
+    LED_CAR(PinName _PinOut,  int _nbLeds):LED_WS2812(_PinOut, _nbLeds) {  };
+    
+    void LEDsOff( void );
+    void LEDsRainbow( void );
+    void LEDNrCol(LED_Nr aNr, int parameter) ;
+    void LEDsRainbowMove( double speed );
+    void LEDClignote(LED_Nr aNr, int OnOff);
+    int ColNr2Color( char ColNr);
+
+    // *****************************************************************
+    // Handle all the LEDs specifically with the LED Position definitions
+    // *****************************************************************
+    
+    void LEDFront(int ColNr) ;
+    void LEDRear(int ColNr) ;
+    void LEDCligR(int speed);
+    void LEDCligL(int speed);
+    void LEDAnim(int speed);
+}; // class LED_CAR
+
+const int BuffLen = 512;
+
+// Define States of the interpreter
+enum InterpretState { isStartNew, isLineFilling, isOverflow, isWaitNewLine};
+
+typedef struct RD_CMD_TYPE {
+    char Command;    // Holds the next read command character
+    int  Parameter ; // Holds one int Parameter
+    int  NumParam ;  // Indicates how many parameters where found
+    } RD_CMD_TYPE;
+
+
+// Uses a Ring buffer to buffer incomiing characters
+// Uses a parsing function to extract lines containing a command each
+class Interpreter{
+  public: 
+    // Interpreter Class Creation 
+    Interpreter();
+    void Reinit( void );
+
+  public: // the writing mechanics
+    void AddChar ( char aChar ); // Barebone function, assumes that checks havee been performed by writeBuf!
+    void writeBuf( char c) ; // High level method to add a Char to the buffer,
+    char RingBuf[BuffLen];
+    InterpretState MyState;// Indicates if buffer overflow, line ended etc. 
+    int  WriteIndex   ;  // points to next index to write to
+    int  BufAvail     ;  // indicates how much of the buffer is still available
+    int  LinesComplete; // Indicates how many complete lines are available
+    
+  public: // the reading mechanics
+    RD_CMD_TYPE ParseCommand( void ) ;
+    int  ScanIndex;    // points to next index to read from to
+    char actC     ;        // holds the actual character
+  private:
+    char GetAChar  ( void );
+    void SkipBlanks( void );
+    int  ReadAnInt ( void );
+    char actPP     ( void );
+}; // class Interpreter
+
+#endif
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