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#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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