rc2007-soccer/source/AVR_Studio/Soccer/hal/board.h

#ifndef _BOARD_H_
#define _BOARD_H_

#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdlib.h>
//#include "uart.h"
#include "../global.h"

//#define abs(a) ((a < 0)? -a : a)

#define BEEPER_PIN PG2

// Definiere Konstanten f<>r die Motoren/Dribbler
#define MOTOR0_PORT PORTB
#define MOTOR0_PWM OCR1A
#define MOTOR0_A (1 << 0)
#define MOTOR0_B (1 << 1)

#define MOTOR1_PORT PORTB
#define MOTOR1_PWM OCR1B
#define MOTOR1_A (1 << 2)
#define MOTOR1_B (1 << 3)

#define MOTOR2_PORT PORTD
#define MOTOR2_PWM OCR3A 
#define MOTOR2_A (1 << 5)
#define MOTOR2_B (1 << 4)


// Dribbler
#define DRIBBLER_PORT PORTD
#define DRIBBLER_AN PORTA |= (1 << 5);
#define DRIBBLER_AUS PORTA &= ~(1 << 5);
#define DRIBBLER_A (1 << 6)
#define DRIBBLER_B (1 << 7)

// Kicker
#define KICKER_AN PORTG |= (1 << PG3); 
#define KICKER_AUS PORTG &= ~(1 << PG3);
#define KICKER_USLEEP 10


// Definiere Konstanten f<>r Abstandsensoren
#define ABSTAND_PORT PORTC
#define ABSTAND_DDR DDRC
#define ABSTAND_PIN PINC

#define UART_BAUD_RATE 9600

class Board 
{
private:
public:
	Board();
	~Board();

	int GetADC(uint8_t channel);
	int GetAbstand(int i);
		
	void beep(int freq);
	void ledOn();
	void ledOff();
	void led(bool status);
	void motor(int i, int speed);
	void kicker();

	void dribbler(bool status);
	void dribblerOn();
	void dribblerOff();
};

#endif