eagle_SoccerBoard.h

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#ifndef EAGLE_EBOARD_HELPLIB_SOCCERBOARD
    #define EAGLE_EBOARD_HELPLIB_SOCCERBOARD

//=====================================================================================================================================================
//                                                                     SoccerBoard                                                                     
//=====================================================================================================================================================

    //-------------------------------------------------------------------------------------------------------------------------------------------------
    //                                                                    class                                                                        
    //-------------------------------------------------------------------------------------------------------------------------------------------------

  struct SoccerBoard {
      inline SoccerBoard(void);
      //inline ~SoccerBoard(void) {}
      #if EBOARD_USE_UTILITY > 0x0 or defined(__AVR_ATmega2560__) //won't shrink space... just speed things up

          inline void led(int idx,bool state);
          inline void ledOn(int idx);
          inline void ledOff(int idx);
          inline void ledsOff(void);
          inline void ledMeter(int);

      #endif
      #if EBOARD_USE_UTILITY > 0x0
          inline void /*bool*/ button(int);
          inline void waitForButton(int);
      #endif

      void motor(uint8_t id,int16_t val);
      void motorsOff(void);
      //ARDUINO UNO PINOUT
      //D0,D1   => Bluetooth connection
      //D4,D5   => MotorControl (D5: 980Hz)
      //D10,D13 => SPI

      inline void power(optVAL_t id, bool state);
      inline void powerOn(optVAL_t id);
      inline void powerOff(optVAL_t id);
      inline void sleep(uint16_t t);
      inline void msleep(uint16_t t);
      inline bool digital (optVAL_t id);
      inline optVAL_t  analog (optVAL_t id);
      inline void reset(void); /* use crash-reset? =>*/ /* wdt_enable(WDTO_15MS); while(1) {} */
  };


    //-------------------------------------------------------------------------------------------------------------------------------------------------
    //                                                                definitions                                                                      
    //-------------------------------------------------------------------------------------------------------------------------------------------------

    SoccerBoard::SoccerBoard(void) {}

  #if defined(__AVR_ATmega2560__)
      inline void SoccerBoard::led(int idx, bool state) {writePin(13,state);}
      void SoccerBoard::ledOn(int) {writePin(13,HIGH);}
      void SoccerBoard::ledOff(int) {writePin(13,LOW);}
      void SoccerBoard::ledsOff(void) {writePin(13,LOW);}
      void SoccerBoard::ledMeter(int) {writePin(13,HIGH);}
  #elif EBOARD_USE_UTILITY > 0x0
      void SoccerBoard::led(int, bool) {}
      void SoccerBoard::ledOn(int) {}
      void SoccerBoard::ledOff(int) {}
      void SoccerBoard::ledsOff(void) {}
      void SoccerBoard::ledMeter(int) {}
  #endif

  #if EBOARD_USE_UTILITY > 0x0
      void SoccerBoard::button(int) {}
      void SoccerBoard::waitForButton(int) {}
  #endif
  

  void SoccerBoard::reset(void) {
      #if EBOARD_USE_RESET > 0x0
          wdt_enable(WDTO_15MS);
          for(;;) {}
      #endif
  }

    void SoccerBoard::motor(uint8_t id,int16_t val) {
        #ifndef EBOARD_HELPCAR
            if(id==0&&(val>-256 && val < 256)) {writePin(PIN_MOTOR_DIR,val<0); writePWM(abs(val));}
            else if(id>0&&id<3) {_servoHandler.write(id,val);}
        #else
            if (id == 0) {
            if(val < 0 || val > 180) return;
                mainMotor.write(val);   
            }
            else if (id == 1){
                if(val < 0 || val > 180) return;
                steerMotor.write(val);
            }
        #endif
        }
        
    void SoccerBoard::motorsOff(void) {
        #ifndef EBOARD_HELPCAR
                writePWM(0);
        #else
            mainMotor.write(90);
        #endif

    }

  
  void SoccerBoard::power(optVAL_t id, bool state) {writePin(id,state);}
  void SoccerBoard::powerOn(optVAL_t id) {this->power(id,1);}
  void SoccerBoard::powerOff(optVAL_t id) {this->power(id,0);}
  void SoccerBoard::sleep(uint16_t t) {delay(1000*t);}
  void SoccerBoard::msleep(uint16_t t) {delay(t);}
  bool SoccerBoard::digital (optVAL_t id) {return readPin(id);}
  optVAL_t  SoccerBoard::analog (optVAL_t id) {return readPin(id,0);}
#endif