102 lines
2 KiB
C
102 lines
2 KiB
C
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#include <qfix/qfix.h>
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#ifndef qfixSoccerBoard_h
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#define qfixSoccerBoard_h
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/**
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* \class SoccerBoard
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* \brief Represents the controller board "SoccerBoard".
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* \author Stefan Enderle
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*
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* The class SoccerBoard represents the
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* physical SoccerBoard with all its inputs and outputs.
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* With this class it is possible to drive the motors,
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* put on LEDs, check the buttons and get data from the
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* analog and digital inputs.
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*/
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class SoccerBoard
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{
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public:
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/** Constructor for the SoccerBoard class.
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*/
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SoccerBoard();
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/** Puts on LED i. i must be 0 or 1.
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*/
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void ledOn(int i);
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/** Puts off LED i. i must be 0 or 1.
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*/
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void ledOff(int i);
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/** Puts off all LEDs.
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*/
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void ledsOff();
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/** Puts LED i on if state is true, else off. i must be 0 or 1.
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*/
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void led(int i, bool state);
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/** Puts the power output i on
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*/
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void powerOn(int i);
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/** Puts the power output i off
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*/
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void powerOff(int i);
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/** Puts the power output i on if state is true, else off.
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*/
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void power(int i, bool state);
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/** Checks the state of button i. If it is pressed, true is returned,
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* else false.
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*/
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bool button(int i);
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/** Uses the four LEDs on the board to display the value i
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* with 0 <= i <= 255
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*/
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void ledMeter(int i,int maxvalue);
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/** Sets motor i to the given speed. -255 <= speed <= 255.
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*/
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void motor(int i, int speed);
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void stop(int i);
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/** Puts off all motors.
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*/
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void motorsOff();
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/** returns the value of the analog port i. 0 <= value <= 255.
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*/
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int analog(int i);
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/** returns true if the digital port is logical high, else false.
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*/
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bool digital(int i);
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/** Waits until button i is pressed and released again.
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*/
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void waitForButton(int i);
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void beep(int freq);
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void beep(int freq, long msecs);
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void beepOff();
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void setTimer(unsigned long msecs);
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bool timer();
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void sleep(unsigned long msecs);
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};
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void initTimer();
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#endif
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