lego.hxx

#ifndef _LEGO_HH_
#define _LEGO_HH_

#include "usb.h"
#include <iostream>
#include <string>

#define LEGO_MOTOR_DIRECTION 0xe1
#define LEGO_MOTOR_ON_OFF 0x21
#define LEGO_MOTOR_POWER 0x13

#define LEGO_DIR_REPLY 0x16
#define LEGO_ONOFF_REPLY 0xd6
#define LEGO_POWER_REPLY 0xe4


#define LEGO_SELECT_MOTOR_A 0x01
#define LEGO_SELECT_MOTOR_B 0x02
#define LEGO_SELECT_MOTOR_C 0x04

#define LEGO_FLIP_DIR 0x40
#define LEGO_DIR_FORWARD 0x80

#define LEGO_MOTOR_OFF 0x40
#define LEGO_MOTOR_ON 0x80

#define LEGO_POWER_SMALL 0x01
#define LEGO_POWER_MEDIUM 0x02
#define LEGO_POWER_HIGH 0x04

#define LEGO_SOURCE_TYPE1 0x01
#define LEGO_SOURCE_TYPE2 0x02
#define LEGO_SOURCE_TYPE3 0x04


#define OTHER_CODE(code) code|0x08

namespace Lego
{


  class LegoRobo{
    
    private:
      
        //The private members of the class object
        struct usb_dev_handle *lego_handle;
        struct usb_device *lego_device;

    public:
    LegoRobo();

    ~LegoRobo();

    int cheackalive();

    int setdirection(char motors,char flip,char setforward);

    int setonoff(char motors,char on_off);
    
    int setpower(char motors,char ptype,char level);
  
  };

}

#endif //end of lego.hh

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