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Implemented pinMode
1 parent 51a1516 commit e8143cf

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4 files changed

+46
-37
lines changed

4 files changed

+46
-37
lines changed

‎avr/libraries/LottieLemon/src/utility/LottieLemonControlBoard.cpp‎

Lines changed: 36 additions & 29 deletions
Original file line numberDiff line numberDiff line change
@@ -32,7 +32,7 @@ static void processRequest() {
3232

3333
template<typename Tail>
3434
static void sendData(const Tail & tail) {
35-
TwoWayIntegerEasyTransfer.writeByte(tail);
35+
TwoWayIntegerEasyTransfer.write(tail);
3636
TwoWayIntegerEasyTransfer.sendData();
3737
}
3838

@@ -44,26 +44,30 @@ static void requestData(const Tail & tail) {
4444

4545
template<typename Head, typename... Body>
4646
static void sendData(const Head & head, const Body & ... body) {
47-
TwoWayIntegerEasyTransfer.writeByte(head);
47+
TwoWayIntegerEasyTransfer.write(head);
4848
sendData(body...);
4949
}
5050

5151
template<typename Head, typename... Body>
5252
static void requestData(const Head & head, const Body & ... body) {
53-
TwoWayIntegerEasyTransfer.writeByte(head);
53+
TwoWayIntegerEasyTransfer.write(head);
5454
requestData(body...);
5555
}
5656

5757
ControlBoard::ControlBoard()
5858
: _multiplexer{ NOT_A_PIN, MUXA, MUXB, MUXC, MUXD } {
59+
_multiplexer.pinMode(MUX_IN, INPUT);
5960
}
6061

6162
void ControlBoard::setMode(uint8_t mode) {
62-
sendData(COMMAND_SWITCH_MODE, mode);
63+
sendData(static_cast<uint8_t>(COMMAND_SWITCH_MODE), mode);
6364
}
6465

6566
void ControlBoard::pauseMode(bool isPaused) {
66-
sendData(COMMAND_PAUSE_MODE, isPaused);
67+
sendData(
68+
static_cast<uint8_t>(COMMAND_PAUSE_MODE),
69+
static_cast<uint8_t>(isPaused)
70+
);
6771
}
6872

6973
bool ControlBoard::isActionDone(void) {
@@ -82,35 +86,42 @@ bool ControlBoard::isActionDone(void) {
8286
void ControlBoard::lineFollowConfig(
8387
uint8_t kP, uint8_t kD,
8488
uint8_t robotSpeedPercentage, uint8_t intergrationTimeMillis) {
85-
sendData(COMMAND_LINE_FOLLOW_CONFIG,
89+
sendData(static_cast<uint8_t>(COMMAND_LINE_FOLLOW_CONFIG),
8690
kP, kD, robotSpeedPercentage, intergrationTimeMillis);
8791
}
8892

8993
void ControlBoard::motorsWrite(int speedLeft, int speedRight) {
90-
sendData(COMMAND_RUN, speedLeft, speedRight);
94+
sendData(static_cast<uint8_t>(COMMAND_RUN), speedLeft, speedRight);
9195
}
9296

9397
void ControlBoard::motorsStop(void) {
94-
sendData(COMMAND_MOTORS_STOP);
98+
sendData(static_cast<uint8_t>(COMMAND_MOTORS_STOP));
99+
}
100+
101+
void ControlBoard::pinMode(TopMicrocontrollerPin pin, uint8_t value) {
102+
/*Arduino*/::pinMode(pin, value);
103+
}
104+
105+
void ControlBoard::pinMode(BottomMicrocontrollerPin pin, uint8_t value) {
106+
sendData(
107+
static_cast<uint8_t>(COMMAND_PIN_MODE),
108+
static_cast<uint8_t>(pin), value
109+
);
95110
}
96111

97112
bool ControlBoard::digitalRead(TopMicrocontrollerPin pin) {
98-
// TODO: set pinMode
99113
return /*Arduino*/::digitalRead(pin);
100114
}
101115

102116
bool ControlBoard::digitalRead(TopMultiplexerPin pin) {
103117
int channel = pin - T_TK0;
104-
// TODO: set pinMode
105-
_multiplexer.pinMode(MUX_IN, INPUT);
106118
return _multiplexer.digitalRead(channel);
107119
}
108120

109121
bool ControlBoard::digitalRead(BottomMicrocontrollerPin pin) {
110-
// TODO: is pinMode set?
111122
static uint8_t pinCode;
112123
static uint8_t pinValue;
113-
pinCode = pin;
124+
pinCode = static_cast<uint8_t>(pin);
114125
TwoWayIntegerEasyTransfer.attach(
115126
[](uint8_t command, IntegerEasyTransfer & request) {
116127
if ((command == COMMAND_DIGITAL_READ_RE) &&
@@ -119,37 +130,34 @@ bool ControlBoard::digitalRead(BottomMicrocontrollerPin pin) {
119130
else
120131
pinValue = 0;
121132
});
122-
requestData(COMMAND_DIGITAL_READ, pinCode);
133+
requestData(static_cast<uint8_t>(COMMAND_DIGITAL_READ), pinCode);
123134
return (pinValue != 0);
124135
}
125136

126-
void ControlBoard::digitalWrite(TopMicrocontrollerPin pin, bool value) {
127-
// TODO: set pinMode
137+
void ControlBoard::digitalWrite(TopMicrocontrollerPin pin, uint8_t value) {
128138
/*Arduino*/::digitalWrite(pin, value);
129139
}
130140

131-
void ControlBoard::digitalWrite(BottomMicrocontrollerPin pin, bool value) {
132-
// TODO: is pinMode set?
133-
sendData(COMMAND_DIGITAL_WRITE, pin, value);
141+
void ControlBoard::digitalWrite(BottomMicrocontrollerPin pin, uint8_t value) {
142+
sendData(
143+
static_cast<uint8_t>(COMMAND_DIGITAL_WRITE),
144+
static_cast<uint8_t>(pin), value
145+
);
134146
}
135147

136148
int ControlBoard::analogRead(TopMicrocontrollerPin pin) {
137-
// TODO: set pinMode
138149
return /*Arduino*/::analogRead(pin);
139150
}
140151

141152
int ControlBoard::analogRead(TopMultiplexerPin pin) {
142153
int channel = pin - T_TK0;
143-
// TODO: set pinMode
144-
_multiplexer.pinMode(MUX_IN, INPUT);
145154
return _multiplexer.analogRead(channel);
146155
}
147156

148157
int ControlBoard::analogRead(BottomMicrocontrollerPin pin) {
149-
// TODO: is pinMode set?
150-
static uint8_t pinCode = pin;
158+
static uint8_t pinCode;
151159
static int pinValue;
152-
pinCode = pin;
160+
pinCode = static_cast<uint8_t>(pin);
153161
TwoWayIntegerEasyTransfer.attach(
154162
[](uint8_t command, IntegerEasyTransfer & request) {
155163
if ((command == COMMAND_ANALOG_READ_RE) &&
@@ -158,12 +166,11 @@ int ControlBoard::analogRead(BottomMicrocontrollerPin pin) {
158166
else
159167
pinValue = 0;
160168
});
161-
requestData(COMMAND_ANALOG_READ, pinCode);
169+
requestData(static_cast<uint8_t>(COMMAND_ANALOG_READ), pinCode);
162170
return pinValue;
163171
}
164172

165173
void ControlBoard::analogWrite(TopMicrocontrollerPin pin, uint8_t value) {
166-
// TODO: set pinMode
167174
if (pin == T_TKD4)
168175
/*Arduino*/::analogWrite(pin, value);
169176
}
@@ -182,7 +189,7 @@ uint8_t ControlBoard::updateIR(uint16_t * ir, uint8_t size) {
182189
irValues[i] = 0;
183190
}
184191
});
185-
requestData(COMMAND_READ_IR);
192+
requestData(static_cast<uint8_t>(COMMAND_READ_IR));
186193
memcpy(ir, irValues, maxItems * sizeof(uint16_t));
187194
return maxItems;
188195
}
@@ -196,7 +203,7 @@ int LottieLemon::ControlBoard::trimRead() {
196203
else
197204
trimmerValue = 0;
198205
});
199-
requestData(COMMAND_READ_TRIM);
206+
requestData(static_cast<uint8_t>(COMMAND_READ_TRIM));
200207
return trimmerValue;
201208
}
202209

‎avr/libraries/LottieLemon/src/utility/LottieLemonControlBoard.h‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -41,11 +41,13 @@ namespace LottieLemon {
4141
void motorsWrite(int speedLeft, int speedRight);
4242
void motorsStop(void);
4343

44+
void pinMode(TopMicrocontrollerPin pin, uint8_t value);
45+
void pinMode(BottomMicrocontrollerPin pin, uint8_t value);
4446
bool digitalRead(TopMicrocontrollerPin pin);
4547
bool digitalRead(TopMultiplexerPin pin);
4648
bool digitalRead(BottomMicrocontrollerPin pin);
47-
void digitalWrite(TopMicrocontrollerPin pin, bool value);
48-
void digitalWrite(BottomMicrocontrollerPin pin, bool value);
49+
void digitalWrite(TopMicrocontrollerPin pin, uint8_t value);
50+
void digitalWrite(BottomMicrocontrollerPin pin, uint8_t value);
4951
int analogRead(TopMicrocontrollerPin pin);
5052
int analogRead(TopMultiplexerPin pin);
5153
int analogRead(BottomMicrocontrollerPin pin);

‎avr/libraries/LottieLemon/src/utility/LottieLemonMotorBoard.cpp‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -105,8 +105,8 @@ bool MotorBoard::handleMessage(uint8_t command, IntegerEasyTransfer & request) {
105105
break;
106106
case COMMAND_PIN_MODE:
107107
codename = request.readByte();
108-
value = request.readInt();
109-
_pinMode(codename, value);
108+
modeName = request.readByte();
109+
_pinMode(codename, modeName);
110110
case COMMAND_ANALOG_WRITE:
111111
codename = request.readByte();
112112
value = request.readInt();
@@ -247,12 +247,12 @@ void MotorBoard::motorsStop() {
247247
*
248248
*
249249
*/
250-
void MotorBoard::_pinMode(uint8_t codename, int value) {
250+
void MotorBoard::_pinMode(uint8_t codename, uint8_t value) {
251251
uint8_t pin = parseCodename(codename);
252252
if (pin == 0) { return; } // Not valid codename.
253253
pinMode(pin, value);
254254
}
255-
void MotorBoard::_digitalWrite(uint8_t codename, bool value) {
255+
void MotorBoard::_digitalWrite(uint8_t codename, uint8_t value) {
256256
uint8_t pin = parseCodename(codename);
257257
if (pin == 0) { return; } // Not valid codename.
258258
digitalWrite(pin, value);

‎avr/libraries/LottieLemon/src/utility/LottieLemonMotorBoard.h‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -59,9 +59,9 @@ namespace LottieLemon {
5959
void stopCurrentActions();
6060
//void sendCommand(byte command,byte codename,int value);
6161

62-
void _pinMode(uint8_t codename, int value);
62+
void _pinMode(uint8_t codename, uint8_t value);
6363
void _analogWrite(uint8_t codename, int value);
64-
void _digitalWrite(uint8_t codename, bool value);
64+
void _digitalWrite(uint8_t codename, uint8_t value);
6565
void _analogRead(uint8_t codename);
6666
void _digitalRead(uint8_t codename);
6767
int _IRread(uint8_t num);

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