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bdio1.h

/*
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2007  Derek Jones

This library is free software; you can redistribute it  and/or
modify it under the terms of the GNU Lesser General Public
License  as published by the Free Software Foundation; either
version 2.1 of the  License, or (at your option) any later version.

This library is  distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY;  without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A  PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more  details.

You should have received a copy of the GNU Lesser General  Public
License along with this library; if not, write to the Free  Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA

 $Id: bdio1.h,v 1.2 2007/06/10 22:41:29 derek Exp $ 
*/
#ifndef _H_ODIO1
#define _H_ODIO1
#include <hardware/oomrm.h>
#define _pin (1<<((_ioline&0x7)))

class bDI1 : public virtual OOMRM
{
public:
  friend class oDI4;    // need protected method constructor
  friend class oDI3;
  friend class oDI2;
  bDI1(IOLINE pin, PORT port);
  bool value(void) const; 
  static foo2 callback(void);
protected:
  bDI1(void);
  IOLINE _ioline;
  PORT   _port;
};
class bDO1 : public virtual OOMRM
{
public:
  bDO1(IOLINE pin, PORT port);
  void value(bool b);   
  static foo2 callback(void);
protected:
  bDO1(void);
  IOLINE _ioline;
  PORT   _port;
};
#include <hardware/opwm.h>

typedef oPWM oDO1_TPU;

//#include <hardware/oencoder.h>
//typedef oEncoder oDI1_TPU;    // the way it should have been!

#endif

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