From e26a1dc73313098cef235918d237f9b1a6e4cb5f Mon Sep 17 00:00:00 2001
From: neoraider <devnull@localhost>
Date: Wed, 4 Apr 2007 12:08:03 +0000
Subject: Rescue: Weitere Grundfunktionen implementiert

---
 avr.cpp | 34 ++++++++++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)
 create mode 100644 avr.cpp

(limited to 'avr.cpp')

diff --git a/avr.cpp b/avr.cpp
new file mode 100644
index 0000000..a5194a4
--- /dev/null
+++ b/avr.cpp
@@ -0,0 +1,34 @@
+#include "avr.h"
+#include "adc.h"
+#include "util.h"
+
+void setMotorSpeed(MOTOR *motor, int speed) {
+  if(speed > 0) {
+    *motor->port &= ~motor->revMask;
+    *motor->port |= motor->fwdMask;
+  }
+  else if(speed < 0) {
+    *motor->port &= ~motor->fwdMask;
+    *motor->port |= motor->revMask;
+  }
+  else *motor->port |= motor->fwdMask|motor->revMask;
+  
+  *motor->pwmPort = CLAMP(0, ABS(speed), 255);
+}
+
+int getButton() {
+  uint16_t val = getADCValue(7);
+  
+  if(val < 144) return 5;
+  if(val < 228) return 4;
+  if(val < 304) return 3;
+  if(val < 376) return 2;
+  if(val < 600) return 1;
+  
+  return 0;
+}
+
+void waitForButton(int i) {
+  while(getButton() != CLAMP(0, i, 5));
+  while(getButton() != 0);
+}
-- 
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