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Bertl Class Reference
name: Bertl.h
version: 3.0
author:PE HTL BULME
email: pe@bulme.at
WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/wiki/Homepage
description: Definition and documentation portion of the class Bertl The Robot.
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#include <ur_Bertl.h>
Inherits ur_Bertl.
Inherited by Robot.
Public Member Functions | |
int | Move (int move=MOVE) |
Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error() | |
int | MoveBackwards (int move=MOVE) |
Robot moves as much back as the constant DISTANCE; if one of the buttons fire --> Error() | |
void | TurnRight () |
Robot turns Right as much as the constant ANGLE. | |
void | TurnLeftStep (int step=STEPTIME) |
Robot turns left for a short time defined in STEPTIME. | |
void | TurnRightStep (int step=STEPTIME) |
Robot turns Right for a short time defined in STEPTIME. | |
uint8_t | GetLineValues () |
in the lower 4 bit are the values of the line sensor | |
uint8_t | GetLineValues5 () |
Bertl15: lower 5 bit are the values of the line sensor. | |
void | RGBLed (bool red, bool green, bool blue) |
RGB Led with red, green and blue component of the Color. | |
void | Move () |
Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error() | |
void | TurnLeft () |
Robot turns left as much as the constant ANGLE. | |
void | PutBeeper () |
if Robot has any Beepers in his bag he can put one or more Beeper; if not --> Error(() | |
void | PickBeeper () |
if Robot stands on a black item he can pick one or more Beeper (max. | |
void | TurnOff () |
turnes the robot off | |
bool | WaitUntilButtonPressed () |
wait until any button is pressed at the robot | |
bool | FrontIsClear () |
returns a boolean value true if front is free; if not false | |
bool | NextToABeeper () |
returns a boolean value true if the robot is on a black place or line; if not --> false | |
bool | IsButtonPressed (const int btn) |
returns true if Button btn is pressed, else false | |
int | ReturnButtonPressed () |
returns the int value of button pressed | |
int | AnyBeeperInBag () |
returns an int value (if > 0 equal true) how many beepers in bag; if zero --> false | |
void | NibbleLeds (int value) |
methode for the 4 (half byte) yellow LEDs at the back left side; ie. | |
void | TurnLedOn (int16_t led) |
turns the specified one or more LEDs ON; description and name in const.h, such as LED_FL1 = 0x01; front LED white | |
void | TurnLedOff (int16_t led) |
turns the specified one or more LEDs OFF; description and name in const.h, such as LED_FL1 = 0x01; front LED white | |
void | BlueLedsOFF () |
OFF all blue LEDs which are on the same Port 1_28. | |
void | BlueLedsON () |
ON all blue LEDs which are on the same Port 1_28. | |
Protected Member Functions | |
void | increment () |
protected methodes for internal purposes only | |
bool | backIsClear () |
don't now for what | |
bool | frontButtonPressed () |
TRUE if a a button on the front of Robot is pressed else FALSE. | |
int | bottomIsBlack () |
check line sensor; returns BCD value | |
void | error () |
Error: stops the robot and all LEDs are blinking. | |
Protected Attributes | |
int | beepersInBag |
how many beepers does the robot have in his bag; you can show it with: karel.NibbleLeds(karel.AnyBeeperInBag()) | |
char | cmd [3] |
I2C command. | |
int16_t | btns |
which button is pressed | |
InterruptIn | _interrupt |
interrupted used | |
volatile int | _count |
values of motor sensor | |
int16_t | leds |
save led status |
Detailed Description
name: Bertl.h
version: 3.0
author:PE HTL BULME
email: pe@bulme.at
WIKI: https://developer.mbed.org/teams/BERTL_CHEL_18/code/ur_Bertl/wiki/Homepage
description: Definition and documentation portion of the class Bertl The Robot.
//
Example motor sensor test:
#include "mbed.h" #include "ur_Bertl.h" #include "const.h" int main() { ur_Bertl karel(LEFTSENSOR); // RIGHTSENSOR while(true) { karel.NibbleLeds(karel.Read()); } }
Example follow a line:
#include "mbed.h" #include "ur_Bertl.h" #include "const.h" int main() { Bertl karel; while(karel.WaitUntilButtonPressed()) { karel.NibbleLeds(karel.GetLineValues()); switch(karel.GetLineValues()) { case 0x00: karel.TurnLeftStep(50); break; case 0x03: case 0x01: case 0x07: karel.TurnLeftStep(20); break; case 0x0E: case 0x0A: case 0x08: karel.TurnRightStep(20); break; default: karel.Move(20); break; } if(!karel.FrontIsClear()) karel.TurnLeftStep(1000); } }
Definition at line 239 of file ur_Bertl.h.
Member Function Documentation
int AnyBeeperInBag | ( | ) | [inherited] |
returns an int value (if > 0 equal true) how many beepers in bag; if zero --> false
Definition at line 256 of file ur_Bertl.cpp.
bool backIsClear | ( | ) | [protected, inherited] |
don't now for what
Definition at line 312 of file ur_Bertl.cpp.
void BlueLedsOFF | ( | ) | [inherited] |
OFF all blue LEDs which are on the same Port 1_28.
Definition at line 137 of file ur_Bertl.cpp.
void BlueLedsON | ( | ) | [inherited] |
ON all blue LEDs which are on the same Port 1_28.
Definition at line 132 of file ur_Bertl.cpp.
int bottomIsBlack | ( | ) | [protected, inherited] |
check line sensor; returns BCD value
Definition at line 304 of file ur_Bertl.cpp.
void error | ( | ) | [protected, inherited] |
Error: stops the robot and all LEDs are blinking.
Definition at line 359 of file ur_Bertl.cpp.
bool frontButtonPressed | ( | ) | [protected, inherited] |
TRUE if a a button on the front of Robot is pressed else FALSE.
Definition at line 334 of file ur_Bertl.cpp.
bool FrontIsClear | ( | ) | [inherited] |
returns a boolean value true if front is free; if not false
Definition at line 191 of file ur_Bertl.cpp.
uint8_t GetLineValues | ( | ) |
in the lower 4 bit are the values of the line sensor
Definition at line 514 of file ur_Bertl.cpp.
uint8_t GetLineValues5 | ( | ) |
Bertl15: lower 5 bit are the values of the line sensor.
Definition at line 522 of file ur_Bertl.cpp.
void increment | ( | ) | [protected, inherited] |
protected methodes for internal purposes only
ISR to increment sensor values of motor
Definition at line 381 of file ur_Bertl.cpp.
bool IsButtonPressed | ( | const int | btn ) | [inherited] |
returns true if Button btn is pressed, else false
Definition at line 264 of file ur_Bertl.cpp.
int Move | ( | int | move = MOVE ) |
Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()
Definition at line 414 of file ur_Bertl.cpp.
void Move | ( | ) | [inherited] |
Robot moves one turn as much as the constant DISTANCE; if one of the buttons fire --> Error()
Definition at line 50 of file ur_Bertl.cpp.
int MoveBackwards | ( | int | move = MOVE ) |
Robot moves as much back as the constant DISTANCE; if one of the buttons fire --> Error()
Definition at line 392 of file ur_Bertl.cpp.
bool NextToABeeper | ( | ) | [inherited] |
returns a boolean value true if the robot is on a black place or line; if not --> false
Definition at line 248 of file ur_Bertl.cpp.
void NibbleLeds | ( | int | value ) | [inherited] |
methode for the 4 (half byte) yellow LEDs at the back left side; ie.
you can show how many beeper a robot has in his bag with: karel.NibbleLeds(karel.AnyBeeperInBag())
Definition at line 184 of file ur_Bertl.cpp.
void PickBeeper | ( | ) | [inherited] |
if Robot stands on a black item he can pick one or more Beeper (max.
15 --> Error()); if not --> Error()
Definition at line 84 of file ur_Bertl.cpp.
void PutBeeper | ( | ) | [inherited] |
if Robot has any Beepers in his bag he can put one or more Beeper; if not --> Error(()
Definition at line 75 of file ur_Bertl.cpp.
int ReturnButtonPressed | ( | ) | [inherited] |
returns the int value of button pressed
Definition at line 286 of file ur_Bertl.cpp.
void RGBLed | ( | bool | red, |
bool | green, | ||
bool | blue | ||
) |
RGB Led with red, green and blue component of the Color.
Reimplemented from ur_Bertl.
Definition at line 530 of file ur_Bertl.cpp.
void TurnLedOff | ( | int16_t | led ) | [inherited] |
turns the specified one or more LEDs OFF; description and name in const.h, such as LED_FL1 = 0x01; front LED white
Definition at line 167 of file ur_Bertl.cpp.
void TurnLedOn | ( | int16_t | led ) | [inherited] |
turns the specified one or more LEDs ON; description and name in const.h, such as LED_FL1 = 0x01; front LED white
Definition at line 149 of file ur_Bertl.cpp.
void TurnLeft | ( | ) | [inherited] |
Robot turns left as much as the constant ANGLE.
Definition at line 95 of file ur_Bertl.cpp.
void TurnLeftStep | ( | int | step = STEPTIME ) |
Robot turns left for a short time defined in STEPTIME.
Definition at line 490 of file ur_Bertl.cpp.
void TurnOff | ( | ) | [inherited] |
turnes the robot off
Definition at line 118 of file ur_Bertl.cpp.
void TurnRight | ( | ) |
Robot turns Right as much as the constant ANGLE.
Definition at line 440 of file ur_Bertl.cpp.
void TurnRightStep | ( | int | step = STEPTIME ) |
Robot turns Right for a short time defined in STEPTIME.
Definition at line 465 of file ur_Bertl.cpp.
bool WaitUntilButtonPressed | ( | ) | [inherited] |
wait until any button is pressed at the robot
Definition at line 225 of file ur_Bertl.cpp.
Field Documentation
volatile int _count [protected, inherited] |
values of motor sensor
Definition at line 135 of file ur_Bertl.h.
InterruptIn _interrupt [protected, inherited] |
interrupted used
Definition at line 134 of file ur_Bertl.h.
int beepersInBag [protected, inherited] |
how many beepers does the robot have in his bag;
you can show it with: karel.NibbleLeds(karel.AnyBeeperInBag())
Definition at line 131 of file ur_Bertl.h.
int16_t btns [protected, inherited] |
which button is pressed
Definition at line 133 of file ur_Bertl.h.
char cmd[3] [protected, inherited] |
I2C command.
Definition at line 132 of file ur_Bertl.h.
int16_t leds [protected, inherited] |
save led status
Definition at line 136 of file ur_Bertl.h.
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