1 files changed, 157 insertions, 0 deletions
diff --git a/source/qFix/qfixSlaveBoard.h b/source/qFix/qfixSlaveBoard.h
new file mode 100644
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--- /dev/null
+++ b/source/qFix/qfixSlaveBoard.h
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+//------------------------------------------------------------------
+// qfixSlaveBoard.h
+//
+// This file contains the class SlaveBoard which represents a kind
+// of remote control of a BobbyBoard via the I2C bus. The SlaveBoard
+// can be used like a local BobbyBoard with all its inputs and outputs.
+//
+// Copyright 2005 by KTB mechatronics GmbH
+// Author: Stefan Enderle
+//------------------------------------------------------------------
+
+
+#ifndef qfixSlaveBoard_h
+#define qfixSlaveBoard_h
+
+#include "qfixI2CMaster.h"
+#include "qfixI2CDefs.h"
+
+
+const uint8_t CMD_LEDON    = 0;
+const uint8_t CMD_LEDOFF   = 1;
+const uint8_t CMD_LEDSOFF  = 2;
+const uint8_t CMD_POWERON  = 3;
+const uint8_t CMD_POWEROFF = 4;
+const uint8_t CMD_MOTOR    = 5;
+const uint8_t CMD_BUTTON   = 6;
+const uint8_t CMD_ANALOG   = 7;
+const uint8_t CMD_DIGITAL  = 8;
+
+
+//----------------------------------------
+
+
+
+class SlaveBoard : I2CMaster
+{
+public:
+  SlaveBoard();
+  SlaveBoard(uint8_t logicalID);
+
+  /** Puts on LED i 
+  */
+  void ledOn(uint8_t i);
+
+  /** Puts off LED i
+  */
+  void ledOff(uint8_t i);
+
+  /** Puts off all LEDs
+  */
+  void ledsOff();
+
+  /** Puts the power output i on
+  */
+  void powerOn(uint8_t i);
+
+  /** Puts the power output i off
+  */
+  void powerOff(uint8_t i);
+
+  /** Sets motor i to the given speed. -255 <= speed <= 255
+  */
+  void motor(uint8_t i, int speed);
+
+  /** Checks the state of button i. If it is pressed, true is returned,
+   *  else false.
+  */
+  bool button(uint8_t i);
+
+  /** returns the value of the analog port i. 0 <= value <= 255
+  */
+  int analog(uint8_t i);
+
+  /** returns true if the digital port is logical high, else false.
+  */
+  bool digital(uint8_t i);
+};
+
+
+SlaveBoard::SlaveBoard() : I2CMaster(I2C_ADDR_BOBBYBOARD)
+{
+}
+
+
+SlaveBoard::SlaveBoard(uint8_t logicalID) 
+: I2CMaster(I2C_ADDR_BOBBYBOARD, logicalID)
+{
+}
+
+
+void SlaveBoard::ledOn(uint8_t i)
+{
+  if  (i>3) return;
+  command(CMD_LEDON, i);
+}
+
+
+void SlaveBoard::ledOff(uint8_t i)
+{
+  if  (i>3) return;
+  command(CMD_LEDOFF, i);
+}
+
+
+void SlaveBoard::ledsOff()
+{
+  command(CMD_LEDSOFF);
+}
+
+
+void SlaveBoard::powerOn(uint8_t i)
+{
+  if  (i>7) return;
+  command(CMD_POWERON, i);
+}
+
+
+void SlaveBoard::powerOff(uint8_t i)
+{
+  if  (i>7) return;
+  command(CMD_POWEROFF, i);
+}
+
+
+void SlaveBoard::motor(uint8_t i, int speed)
+{
+  if (i>1) return;
+  uint8_t neg=(speed<0)?1:0;
+  uint8_t s;
+  if (speed>=0) s=uint8_t(speed); else s=-uint8_t(speed);
+  command(CMD_MOTOR, i, neg, s);
+}
+
+
+bool SlaveBoard::button(uint8_t i)
+{
+  if  (i>3) return false;    // better error handling!
+  return (request(CMD_BUTTON, i) == 1);
+}
+
+
+int SlaveBoard::analog(uint8_t i)
+{
+  if  (i>3) return -1;    // better error handling!
+  return (request(CMD_ANALOG, i));
+}
+
+
+bool SlaveBoard::digital(uint8_t i)
+{
+  if  (i>3) return false;    // better error handling!
+  return (request(CMD_DIGITAL, i) == 1);
+}
+
+
+#endif
+