Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen.
https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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89 lines
1.5 KiB
89 lines
1.5 KiB
/*
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* https://github.com/mrshu/GPIOlib
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* Copyright (c) 2011, Copyright (c) 2011 mr.Shu
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* All rights reserved.
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*
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* Modified on 24 June 2012, 11:06 AM
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* File: gpio.h
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* Author: purinda (purinda@gmail.com)
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*
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*/
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#ifndef H
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#define H
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#include <cstdio>
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#include <map>
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#include <stdexcept>
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/** Specific excpetion for SPI errors */
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class GPIOException : public std::runtime_error {
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public:
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explicit GPIOException(const std::string& msg) : std::runtime_error(msg) { }
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};
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/**
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* @file gpio.h
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* \cond HIDDEN_SYMBOLS
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* Class declaration for GPIO helper files
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*/
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/**
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* Example GPIO.h file
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*
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* @defgroup GPIO GPIO Example
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*
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* See RF24_arch_config.h for additional information
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* @{
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*/
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typedef int GPIOfdCache_t;
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class GPIO {
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public:
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/* Constants */
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static const int DIRECTION_OUT = 1;
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static const int DIRECTION_IN = 0;
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static const int OUTPUT_HIGH = 1;
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static const int OUTPUT_LOW = 0;
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GPIO();
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/**
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* Similar to Arduino pinMode(pin,mode);
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* @param port
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* @param DDR
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*/
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static void open(int port, int DDR);
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/**
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*
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* @param port
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*/
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static void close(int port);
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/**
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* Similar to Arduino digitalRead(pin);
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* @param port
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* @param value
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*/
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static int read(int port);
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/**
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* Similar to Arduino digitalWrite(pin,state);
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* @param port
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* @param value
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*/
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static void write(int port,int value);
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virtual ~GPIO();
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private:
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/* fd cache */
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static std::map<int,GPIOfdCache_t> cache;
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};
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/**
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* \endcond
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*/
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/*@}*/
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#endif /* H */
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