Diff: PicoBorgReverse.cpp

Revision:

0:f8a6d1cc7fa8

Child:

2:cecfacbc2048

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PicoBorgReverse.cpp	Tue Feb 09 11:16:09 2016 +0000
@@ -0,0 +1,99 @@
+/************************************/
+/***** PicoBorg Reverse Library *****/
+/************************************/
+
+// Includes
+#include "MicroBit.h"             
+#include "PicoBorgReverse.h"        // The PicoBorg Reverse library constants
+
+
+
+bool PicoBorgReverse::checkId(void) 
+{
+    i2c_write(PBR_COMMAND_GET_ID);
+    char readBuf[PBR_I2C_MAX_LEN]  = {0};
+    int readStatus = uBit.i2c.read(addr, readBuf, PBR_I2C_MAX_LEN);
+    return readBuf[1] == PBR_I2C_ID_PICOBORG_REV;
+}
+
+
+void PicoBorgReverse::resetEpo(void)
+{
+    i2c_write(PBR_COMMAND_RESET_EPO);
+}
+
+bool PicoBorgReverse::getEpo(void) {
+   i2c_write(PBR_COMMAND_GET_EPO);
+
+    char readBuf[PBR_I2C_MAX_LEN]  = {0};
+    int readStatus = uBit.i2c.read(addr, readBuf, PBR_I2C_MAX_LEN);
+
+    return readBuf[1] == PBR_COMMAND_VALUE_ON;
+}
+
+// Sets the system to ignore or use the EPO latch, set to false if you have an EPO switch, true if you do not
+void PicoBorgReverse::setEpoIgnore(bool state) {
+    i2c_write(PBR_COMMAND_SET_EPO_IGNORE,  state ? PBR_COMMAND_VALUE_ON : PBR_COMMAND_VALUE_OFF);
+}
+
+// Reads the system EPO ignore state, False for using the EPO latch, True for ignoring the EPO latch
+bool PicoBorgReverse::getEpoIgnore(void) {
+
+    i2c_write(PBR_COMMAND_GET_EPO_IGNORE);
+
+    char readBuf[PBR_I2C_MAX_LEN]  = {0};
+    int readStatus = uBit.i2c.read(addr, readBuf, PBR_I2C_MAX_LEN);
+
+    return readBuf[1] == PBR_COMMAND_VALUE_ON;
+    
+}
+
+
+bool PicoBorgReverse::getCommsFailsafe(void)
+{
+    i2c_write(PBR_COMMAND_GET_FAILSAFE);
+
+    char readBuf[PBR_I2C_MAX_LEN]  = {0};
+    int readStatus = uBit.i2c.read(addr, readBuf, PBR_I2C_MAX_LEN);
+
+    return readBuf[1] == PBR_COMMAND_VALUE_ON;
+}
+
+void PicoBorgReverse::setCommsFailsafe(bool state)
+{
+   i2c_write(PBR_COMMAND_SET_FAILSAFE,  state ? PBR_COMMAND_VALUE_ON : PBR_COMMAND_VALUE_OFF);
+}
+
+bool PicoBorgReverse::getDriveFault(void) {
+    i2c_write(PBR_COMMAND_GET_DRIVE_FAULT);
+
+    char readBuf[PBR_I2C_MAX_LEN]  = {0};
+    int readStatus = uBit.i2c.read(addr, readBuf, PBR_I2C_MAX_LEN);
+
+    return readBuf[1] == PBR_COMMAND_VALUE_ON;
+}
+
+
+
+// Motor functions
+
+void PicoBorgReverse::setMotor1(int power)
+{
+    char cmd = power < 0 ? PBR_COMMAND_SET_B_REV : PBR_COMMAND_SET_B_FWD;
+    power = power > PBR_PWM_MAX ? PBR_PWM_MAX : abs(power);
+    i2c_write(cmd, (char) power);
+}
+
+void PicoBorgReverse::setMotor2(int power)
+{
+    char cmd = power < 0 ? PBR_COMMAND_SET_A_REV : PBR_COMMAND_SET_A_FWD;
+    power = power > PBR_PWM_MAX ? PBR_PWM_MAX : abs(power);
+    i2c_write(cmd, (char) power);
+}
+
+
+void PicoBorgReverse::setLed(bool state) {    
+    i2c_write(PBR_COMMAND_SET_LED,  state ? PBR_COMMAND_VALUE_ON : PBR_COMMAND_VALUE_OFF);
+}
+
+