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Arduino Code/Schwimmwinkel_FINAL/ADNS_3080.h

+#include <Arduino.h>
+#include <SPI.h>
+
+#ifndef ADNS3080_h
+#define ADNS3080_h 
+
+//------------ Constants and registers ---------------
+
+// Signal delay time:
+#define ADNS3080_T_IN_RST             500
+#define ADNS3080_T_PW_RESET           10
+#define ADNS3080_T_SRAD_MOT           75
+#define ADNS3080_T_SWW                50
+#define ADNS3080_T_SRAD               50
+#define ADNS3080_T_LOAD               10
+#define ADNS3080_T_BEXIT              4
+
+// Pixel dimensions:
+#define ADNS3080_PIXELS               30
+
+// Registers: 
+#define ADNS3080_PRODUCT_ID           0x00
+#define ADNS3080_CONFIGURATION_BITS   0x0a
+#define ADNS3080_MOTION_CLEAR         0x12
+#define ADNS3080_FRAME_CAPTURE        0x13
+#define ADNS3080_PIXEL_BURST          0x40
+#define ADNS3080_MOTION_BURST         0x50
+#define ADNS3080_PRODUCT_ID_VALUE     0x17
+
+//--------------- Template Parameters ---------------- [ No characters after backlash! ]
+
+#define TEMPLATE_TYPE           \
+        uint8_t PIN_RESET,      \
+        uint8_t PIN_NCS         
+    
+#define TEMPLATE_INPUTS         \
+                PIN_RESET,      \
+                PIN_NCS 
+  
+//---------------- Class definition ------------------
+  
+template <TEMPLATE_TYPE>
+class ADNS3080 {  
+  private:
+    // Read and write registers:
+    void writeRegister( const uint8_t, uint8_t );
+    uint8_t readRegister( const uint8_t );
+   
+  public:   
+    // Miscellaneous functions:
+    void reset();
+    bool setup( const bool=false, const bool=false );
+    void motionClear();
+    bool available();
+    
+    // Major outputs:
+    void motionBurst( uint8_t*, int8_t*, int8_t*, uint8_t*, uint16_t*, uint8_t* );
+    void displacement( int8_t*, int8_t* );
+    void frameCapture( uint8_t[ADNS3080_PIXELS][ADNS3080_PIXELS] );
+};
+
+#include "ADNS_3080.tpp"
+
+#endif
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