Revision 4:066936e2c097, committed 2016-04-04

Comitter:

heinrich_kevin

Date:

Mon Apr 04 12:17:24 2016 +0000

Parent:

3:4326e2654adb

Commit message:

NEW VERSION

Changed in this revision

--- a/bertl14.cpp	Mon Feb 01 10:48:40 2016 +0000
+++ b/bertl14.cpp	Mon Apr 04 12:17:24 2016 +0000
@@ -42,17 +42,17 @@
 
 unsigned char bertl_PC9555_switches()
 {
-    int taster;
+    char taster[1];
     
     pc9555.start();                     // Start PC9555 to write the Adress
         pc9555.write(PC9555_ADDR_W);    // Write the WRITE-Adress
         pc9555.write(0x01);             // To define the Switches => 0x02: LEDs
     pc9555.start();                     // Start PC9555 again to read the Values
         pc9555.write(PC9555_ADDR_R);    // Set the READ_bit
-        taster = pc9555.read(0);        // Read the Value of the Switches
+        taster[0] = pc9555.read(0);        // Read the Value of the Switches (HEX_MASK)
     pc9555.stop();                      // Stop the I2C
     
-    return (taster);                    // Return the value
+    return (taster[0]);                    // Return the value
     
 }
 // END PC9555 Routines

--- a/bertl14.h	Mon Feb 01 10:48:40 2016 +0000
+++ b/bertl14.h	Mon Apr 04 12:17:24 2016 +0000
@@ -13,6 +13,7 @@
 
 #define LED_R_YELLOW (LED_FR_YELLOW|LED_BR_YELLOW)          // 0b1000 1000, BERTL Right Side, YELLOW-LEDs are on
 #define LED_L_YELLOW (LED_FL_YELLOW|LED_BL_YELLOW)          // 0b0010 0010, BERTL Left Side, YELLOW-LEDs are on
+#define LED_YELLOW (LED_L_YELLOW|LED_R_YELLOW)              // 0b1010 1010, BERTL, all YELLOW-LEDs are on
 #define LED_F_WHITE (LED_FL_WHITE|LED_FR_WHITE)             // 0b0000 0101, BERTL Forward, WHITE-LEDs are on
 #define LED_B_RED (LED_BL_RED|LED_BR_RED)                   // 0b0101 0000, BERTL Backward, RED LEDs are on
 #define LED_B_ALL (LED_B_RED|LED_BL_YELLOW|LED_BR_YELLOW)   // 0b1111 0000, BERTL Backward, All LEDs are on
@@ -20,13 +21,24 @@
 //--------------------------------------
 // Switches:
 // Switch TA1: DEZ = 1
+#define TA_FM 0x01  // front middle switch
 // Switch TA2: DEZ = 2
+#define TA_BM 0x02  // back middle switch
 // Switch TA3: DEZ = 4
+#define TA_FL 0x04  // front left switch
 // Switch TA4: DEZ = 8
+#define TA_FR 0x08  // front right switch
 // Switch TA5: DEZ = 16
+#define TA_BL 0x10  // back left switch
 // Switch TA6: DEZ = 32
+#define TA_BR 0x20  // back right switch
 // Switch TA7: DEZ = 64
+#define TA_BF_L 0x40    // bottom front left switch
 // Switch TA8: DEZ = 128
+#define TA_BF_R 0x80    // bottom front right switch
+
+#define TA_F (TA_FL|TA_FM|TA_FR)    // All front switches
+#define TA_B (TA_BL|TA_BM|TA_BR)    // All back switches
 //--------------------------------------
 // Define PC9555 Routines
 #define PC9555_ADDR_W 0x40 //A2 = A1 = A0 = 0, WRITE-ADRESS