X-Git-Url: http://nitlanguage.org

diff --git a/lib/bcm2835.nit b/lib/bcm2835.nit
index cb9575a..aac7352 100644
--- a/lib/bcm2835.nit
+++ b/lib/bcm2835.nit
@@ -440,7 +440,7 @@ class HD44780
 		clear
 		return_home
 		var count = 0
-		for c in v do
+		for c in v.chars do
 			if c == '\n' then
 				# FIXME, this should work
 				#write(true, "C0".to_hex)
@@ -457,3 +457,116 @@ class HD44780
 		self.last_text = v
 	end
 end
+
+# Component for any kind of buttons or switches
+class Switch
+	var pin: RPiPin
+
+	init (pin: RPiPin, pud: PUDControl)
+	do
+		self.pin = pin
+		pin.fsel = new FunctionSelect.inpt
+		pin.pud = pud
+	end
+
+	fun is_down: Bool do return pin.lev
+
+	var last_down: nullable Bool = null
+
+	# Returns true is state (is_down) changed since last call to `changed`
+	fun changed: Bool
+	do
+		var now = is_down
+		var last_down = last_down
+		if last_down == null then
+			self.last_down = now
+			return false
+		else if last_down != now then
+			self.last_down = now
+			return true
+		else return false
+	end
+end
+
+class StepperMotor
+	var pins: Sequence[RPiPin]
+	var delay: Int
+
+	init (delay: Int, a, b, c, d: RPiPin)
+	do
+		pins = [a, b, c, d]
+		self.delay = delay
+
+		for p in pins do p.fsel = new FunctionSelect.outp
+	end
+
+	fun forward(steps: Int)
+	do
+		for s in [0..steps[ do
+			set(true, false, false, false)
+			delay.bcm2835_delay
+			set(true, true, false, false)
+			delay.bcm2835_delay
+			set(false, true, false, false)
+			delay.bcm2835_delay
+			set(false, true, true, false)
+			delay.bcm2835_delay
+			set(false, false, true, false)
+			delay.bcm2835_delay
+			set(false, false, true, true)
+			delay.bcm2835_delay
+			set(false, false, false, true)
+			delay.bcm2835_delay
+			set(true, false, false, true)
+			delay.bcm2835_delay
+		end
+	end
+
+	fun backwards(steps: Int)
+	do
+		for s in [0..steps[ do
+			set(true, false, false, true)
+			delay.bcm2835_delay
+			set(false, false, false, true)
+			delay.bcm2835_delay
+			set(false, false, true, true)
+			delay.bcm2835_delay
+			set(false, false, true, false)
+			delay.bcm2835_delay
+			set(false, true, true, false)
+			delay.bcm2835_delay
+			set(false, true, false, false)
+			delay.bcm2835_delay
+			set(true, true, false, false)
+			delay.bcm2835_delay
+			set(true, false, false, false)
+			delay.bcm2835_delay
+		end
+	end
+
+	fun release do set(false, false, false, false)
+
+	protected fun set(a, b, c, d: Bool)
+	do
+		var bits = new Array[Bool].with_items(a, b, c, d)
+
+		for i in [0..4[ do pins[i].write(bits[i])
+	end
+end
+
+class Buzzer
+	var pin: RPiPin
+
+	fun buzz(delay: Float, times: Int)
+	do
+		assert times > 0
+		assert delay > 0.0
+		var delay_i = (delay*1000.0).to_i
+		for i in [0..times[ do
+			pin.write(true)
+			delay_i.bcm2835_delay_micros
+			pin.write(false)
+			delay_i.bcm2835_delay_micros
+		end
+	end
+end