From 625226774309d4efef855fef759f1da4bc07c0db Mon Sep 17 00:00:00 2001
From: neoraider <devnull@localhost>
Date: Thu, 19 Apr 2007 00:12:03 +0000
Subject: LED eingebaut.

---
 avr.cpp      | 20 ++++++++++++++++++--
 avr.h        |  3 +++
 hardware.cpp |  2 +-
 main.cpp     |  8 +++++++-
 4 files changed, 29 insertions(+), 4 deletions(-)

diff --git a/avr.cpp b/avr.cpp
index cd528ba..585dc7d 100644
--- a/avr.cpp
+++ b/avr.cpp
@@ -19,13 +19,21 @@ int getButton() {
 }
 
 void waitForButton(int i) {
-  while(getButton() != CLAMP(0, i, 5));
+  if(i <= 0)  while(getButton() == 0);
+  else while(getButton() != CLAMP(1, i, 5));
+  
   while(getButton() != 0);
 }
 
 void beep(unsigned long freq) {
 	const int prescalers[7] = {1, 8, 32, 64, 128, 256, 1024};
 	
+	if(freq == 0) {
+		beepOff();
+		return;
+	}
+        
+	
 	for(int i = 0; i < 7; i++) {
 		if(F_CPU/freq/2/prescalers[i] <= 256) {
 			TCCR2 = (TCCR2&~0x07)|(i+1);
@@ -39,5 +47,13 @@ void beep(unsigned long freq) {
 }
 
 void beepOff() {
-	TCCR2 &= ~0x07;
+  TCCR2 &= ~0x07;
+}
+
+void ledOn() {
+  PORTA &= ~0x20;
+}
+
+void ledOff() {
+  PORTA |= 0x20;
 }
diff --git a/avr.h b/avr.h
index 851f1ff..2925bec 100644
--- a/avr.h
+++ b/avr.h
@@ -10,4 +10,7 @@ void waitForButton(int i);
 void beep(unsigned long freq);
 void beepOff();
 
+void ledOn();
+void ledOff();
+
 #endif
diff --git a/hardware.cpp b/hardware.cpp
index e652dda..8e25854 100644
--- a/hardware.cpp
+++ b/hardware.cpp
@@ -8,7 +8,7 @@
 
 
 void initHardware() {
-  DDRA = 0x00;
+  DDRA = 0x20;
   PORTA = 0xFF;
   
   DDRB = 0xFF;
diff --git a/main.cpp b/main.cpp
index 8fc011b..cc71d55 100644
--- a/main.cpp
+++ b/main.cpp
@@ -48,10 +48,16 @@ int main() {
 	
 	Srf10 *srf10Last = srf10Left;
 	
-	do {
+  do {
 		lineSensorArray->update();
 	} while(!lineSensorArray->calibrate());
 	
+  ledOn();
+  waitForButton(0);
+  ledOff();
+  
+  sleep(4000);
+  
 	navigation->setSpeed(DEFAULT_SPEED);
 	
 	while(true) {
-- 
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