legopowerfunctions.h

/*
LEGO Power Functions protocol for the arduino.
20-04-2009
Version 1.1 

Changelist:
 - Changed the timing in oscillationWrite from 13us to 9us.
 - Forgot to set the ir-pin to OUTPUT
 - added support for SingleOutput the "Clear - Set - Toggle"

This code is based on the code of Bob Kojima 01-19-2008

I have modified it to work on the Arduino.

Roland Wiersma
*/

#ifndef legopowerfunctions_h
#define legopowerfunctions_h

#include <Arduino.h>

//SinglePin & SingleOutput modes
#define CONTINUOUS 0x2
#define TIMEOUT 0x3
#define PWM 0x0
#define CST 0x2 //Clear - Set - Toggle

//ComboPWM & SingleOutput pwm steps
#define PWM_FLT 0x0
#define PWM_FWD1 0x1
#define PWM_FWD2 0x2
#define PWM_FWD3 0x3
#define PWM_FWD4 0x4
#define PWM_FWD5 0x5
#define PWM_FWD6 0x6
#define PWM_FWD7 0x7
#define PWM_BRK 0x8
#define PWM_REV7 0x9
#define PWM_REV6 0xA
#define PWM_REV5 0xB
#define PWM_REV4 0xC
#define PWM_REV3 0xD
#define PWM_REV2 0xE
#define PWM_REV1 0xf

//SingleOutput Clear - Set - Toggle steps
#define CL_C1_CL_C2 0x0
#define ST_C1_CL_C2 0x1
#define CL_C1_ST_C2 0x2
#define ST_C1_ST_C2 0x3
#define INC_PWM 0x4
#define DEC_PWM 0x5
#define FULL_FWD 0x6
#define FULL_REV 0x7
#define TOG_FWD_REV 0x8

//ComboMode steps
#define RED_FLT 0x0
#define RED_FWD 0x1
#define RED_REV 0x2
#define RED_BRK 0x3
#define BLUE_FLT 0x0
#define BLUE_FWD 0x4
#define BLUE_REV 0x8
#define BLUE_BRK 0xC

//channels
#define CH1 0x0
#define CH2 0x1
#define CH3 0x2
#define CH4 0x3

//SinglePin & SingleOutput output
#define RED 0x0
#define BLUE 0x1

//SinglePin functions
#define NO_CHANGE 0x0
#define CLEAR 0x1
#define SET 0x2
#define TOGGLE 0x3

//SinglePin pin
#define PIN_C1 0x0
#define PIN_C2 0x1

class LEGOPowerFunctions
{
  private:
    void pf_send(int code1, int code2);
    void oscillationWrite(int pin, int time);
    void start_stop_bit();
    void message_pause(int channel, int count);

  public:
    LEGOPowerFunctions(int IR_Pin);
    void SingleOutput(int mode, int step, int output, int channel);
    void SinglePin(int mode, int function, int pin, int output, int channel);
    void ComboMode(int blue_speed, int red_speed, int channel);
    void ComboPWM(int blue_pwm, int red_pwm, int channel);
};

#endif