158 lines
2.9 KiB
C
158 lines
2.9 KiB
C
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//------------------------------------------------------------------
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// qfixSlaveBoard.h
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//
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// This file contains the class SlaveBoard which represents a kind
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// of remote control of a BobbyBoard via the I2C bus. The SlaveBoard
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// can be used like a local BobbyBoard with all its inputs and outputs.
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//
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// Copyright 2005 by KTB mechatronics GmbH
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// Author: Stefan Enderle
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//------------------------------------------------------------------
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#ifndef qfixSlaveBoard_h
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#define qfixSlaveBoard_h
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#include "qfixI2CMaster.h"
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#include "qfixI2CDefs.h"
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const uint8_t CMD_LEDON = 0;
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const uint8_t CMD_LEDOFF = 1;
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const uint8_t CMD_LEDSOFF = 2;
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const uint8_t CMD_POWERON = 3;
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const uint8_t CMD_POWEROFF = 4;
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const uint8_t CMD_MOTOR = 5;
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const uint8_t CMD_BUTTON = 6;
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const uint8_t CMD_ANALOG = 7;
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const uint8_t CMD_DIGITAL = 8;
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//----------------------------------------
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class SlaveBoard : I2CMaster
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{
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public:
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SlaveBoard();
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SlaveBoard(uint8_t logicalID);
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/** Puts on LED i
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*/
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void ledOn(uint8_t i);
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/** Puts off LED i
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*/
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void ledOff(uint8_t i);
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/** Puts off all LEDs
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*/
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void ledsOff();
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/** Puts the power output i on
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*/
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void powerOn(uint8_t i);
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/** Puts the power output i off
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*/
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void powerOff(uint8_t i);
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/** Sets motor i to the given speed. -255 <= speed <= 255
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*/
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void motor(uint8_t i, int speed);
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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(uint8_t i);
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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(uint8_t 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(uint8_t i);
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};
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SlaveBoard::SlaveBoard() : I2CMaster(I2C_ADDR_BOBBYBOARD)
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{
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}
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SlaveBoard::SlaveBoard(uint8_t logicalID)
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: I2CMaster(I2C_ADDR_BOBBYBOARD, logicalID)
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{
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}
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void SlaveBoard::ledOn(uint8_t i)
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{
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if (i>3) return;
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command(CMD_LEDON, i);
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}
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void SlaveBoard::ledOff(uint8_t i)
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{
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if (i>3) return;
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command(CMD_LEDOFF, i);
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}
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void SlaveBoard::ledsOff()
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{
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command(CMD_LEDSOFF);
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}
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void SlaveBoard::powerOn(uint8_t i)
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{
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if (i>7) return;
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command(CMD_POWERON, i);
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}
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void SlaveBoard::powerOff(uint8_t i)
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{
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if (i>7) return;
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command(CMD_POWEROFF, i);
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}
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void SlaveBoard::motor(uint8_t i, int speed)
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{
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if (i>1) return;
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uint8_t neg=(speed<0)?1:0;
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uint8_t s;
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if (speed>=0) s=uint8_t(speed); else s=-uint8_t(speed);
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command(CMD_MOTOR, i, neg, s);
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}
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bool SlaveBoard::button(uint8_t i)
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{
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if (i>3) return false; // better error handling!
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return (request(CMD_BUTTON, i) == 1);
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}
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int SlaveBoard::analog(uint8_t i)
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{
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if (i>3) return -1; // better error handling!
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return (request(CMD_ANALOG, i));
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}
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bool SlaveBoard::digital(uint8_t i)
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{
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if (i>3) return false; // better error handling!
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return (request(CMD_DIGITAL, i) == 1);
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}
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#endif
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