From 98c623dc8969151c0872a2d102d486f9a735d614 Mon Sep 17 00:00:00 2001
From: neoraider <devnull@localhost>
Date: Tue, 3 Apr 2007 12:47:03 +0000
Subject: Neues Rescue-Programm angefangen

---
 qfixSoccerBoard.h | 101 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 101 insertions(+)
 create mode 100644 qfixSoccerBoard.h

(limited to 'qfixSoccerBoard.h')

diff --git a/qfixSoccerBoard.h b/qfixSoccerBoard.h
new file mode 100644
index 0000000..9278504
--- /dev/null
+++ b/qfixSoccerBoard.h
@@ -0,0 +1,101 @@
+#include <qfix/qfix.h>
+
+
+#ifndef qfixSoccerBoard_h
+#define qfixSoccerBoard_h
+
+
+/**
+* \class SoccerBoard
+* \brief Represents the controller board "SoccerBoard".
+* \author Stefan Enderle
+*
+* The class SoccerBoard represents the
+* physical SoccerBoard with all its inputs and outputs.
+* With this class it is possible to drive the motors,
+* put on LEDs, check the buttons and get data from the
+* analog and digital inputs.
+*/
+
+class SoccerBoard
+{
+
+public:
+  /** Constructor for the SoccerBoard class.
+  */
+  SoccerBoard(); 
+
+  /** Puts on LED i. i must be 0 or 1.
+  */
+  void ledOn(int i);
+
+  /** Puts off LED i. i must be 0 or 1.
+  */
+  void ledOff(int i);
+
+  /** Puts off all LEDs.
+  */
+  void ledsOff();
+
+  /** Puts LED i on if state is true, else off.  i must be 0 or 1.
+  */
+  void led(int i, bool state);
+
+  /** Puts the power output i on
+  */
+  void powerOn(int i);
+
+  /** Puts the power output i off
+  */
+  void powerOff(int i);
+
+  /** Puts the power output i on if state is true, else off.
+  */
+  void power(int i, bool state);
+
+  /** Checks the state of button i. If it is pressed, true is returned,
+   *  else false.
+  */
+  bool button(int i);
+
+  /** Uses the four LEDs on the board to display the value i
+   *  with 0 <= i <= 255
+  */
+  void ledMeter(int i,int maxvalue);
+
+  /** Sets motor i to the given speed. -255 <= speed <= 255.
+  */
+  void motor(int i, int speed);
+  
+  void stop(int i);
+
+  /** Puts off all motors.
+  */
+  void motorsOff();
+
+  /** returns the value of the analog port i. 0 <= value <= 255.
+  */
+  int analog(int i);
+
+  /** returns true if the digital port is logical high, else false.
+  */
+  bool digital(int i);
+
+  /** Waits until button i is pressed and released again.
+  */
+  void waitForButton(int i);
+
+  void beep(int freq);
+  void beep(int freq, long msecs);
+  void beepOff();
+
+  void setTimer(unsigned long msecs);
+  bool timer();
+
+  void sleep(unsigned long msecs);
+};
+
+
+void initTimer();
+
+#endif
-- 
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