Sille Van Landschoot
/
racing_robots
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Fork of
racing_robots
by 
Nico De Witte
Revision 5:355240d7126b, committed 2015-02-24
- Comitter:
- pcordemans
- Date:
- Tue Feb 24 09:38:40 2015 +0000
- Parent:
- 4:3743cbfe031b
- Child:
- 6:0dc4e4225881
- Commit message:
- added led implementation; cleaned up error messages
Changed in this revision
| robot_logic.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/robot_logic.cpp Tue Feb 24 09:06:29 2015 +0000
+++ b/robot_logic.cpp Tue Feb 24 09:38:40 2015 +0000
@@ -17,6 +17,7 @@
static int internal_i = 0;
static int internal_d = 0;
static int internal_previous_pos_of_line = 0;
+static int internal_led_state = 0;
/*
* Drive the robot forward or backward.
@@ -50,7 +51,7 @@
*/
void turn(int turnspeed) {
if (turnspeed > MAX_SPEED || turnspeed < -MAX_SPEED) {
- printf("[ERROR] Turn speed out of range");
+ error("Speed out of range");
return;
}
@@ -222,4 +223,21 @@
*/
void await(int milliseconds) {
wait_ms(milliseconds);
+}
+
+
+void led(LedIndex i, LedState state) {
+ if(state == LED_ON){
+ internal_led_state |= (1 << i);
+ }
+ else if(state == LED_OFF) {
+ internal_led_state &= ~(1 << i);
+ }
+ else if(state == LED_TOGGLE){
+ internal_led_state ^= (1 << i);
+ }
+ else{
+ error("Illegal LED state");
+ }
+ m3pi.leds(internal_led_state);
}
\ No newline at end of file