rgbringcoder: Initial implementation.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/c++/CMakeLists.txt

@@ -124,6 +124,7 @@ add_executable (ad8232-example ad8232.cxx)
 add_executable (grovescam-example grovescam.cxx)
 add_executable (m24lr64e-example m24lr64e.cxx)
 add_executable (grovecircularled-example grovecircularled.cxx)
+add_executable (rgbringcoder-example rgbringcoder.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -226,6 +227,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/ad8232)
 include_directories (${PROJECT_SOURCE_DIR}/src/grovescam)
 include_directories (${PROJECT_SOURCE_DIR}/src/m24lr64e)
 include_directories (${PROJECT_SOURCE_DIR}/src/grovecircularled)
+include_directories (${PROJECT_SOURCE_DIR}/src/rgbringcoder)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -351,4 +353,4 @@ target_link_libraries (ad8232-example ad8232 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (grovescam-example grovescam ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (m24lr64e-example m24lr64e ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (grovecircularled-example grovecircularled ${CMAKE_THREAD_LIBS_INIT})
-
+target_link_libraries (rgbringcoder-example rgbringcoder ${CMAKE_THREAD_LIBS_INIT})

examples/c++/rgbringcoder.cxx

@@ -0,0 +1,110 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include "rgbringcoder.h"
+#include <signal.h>
+
+using namespace std;
+
+int shouldRun = true;
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT)
+    shouldRun = false;
+}
+
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+  //! [Interesting]
+  
+  // There are a lot of pins to hook up.  These pins are valid for the
+  // Edison board, but may need to be adjusted for other platforms.
+
+  // In order:
+  // enable      - 4
+  // latch       - 10
+  // clear       - 11
+  // clock       - 2
+  // data        - 9
+  // switch      - 7
+
+  // red pwm     - 3
+  // green pwm   - 5
+  // blue pwm    - 6
+
+  // encA        - 12
+  // encB        - 13
+
+  upm::RGBRingCoder *ringCoder = 
+    new upm::RGBRingCoder(4, 10, 11, 2, 9, 7, 12, 13, 3, 5, 6);
+
+  uint16_t spin = 0x0001;
+  bool oldState = false;
+  int oldPos = 0;
+
+  // Lets go green
+  ringCoder->setRGBLED(0.99, 0.01, 0.99);
+
+  while (shouldRun)
+    {
+      // you spin me round...
+      if (spin == 0)
+        spin = 0x0001;
+
+      ringCoder->setRingLEDS(spin);
+      spin <<= 1;
+
+      // check button state
+      bool bstate = ringCoder->getButtonState();
+      if (bstate != oldState)
+        {
+          cout << "Button state changed from " << oldState << " to "
+               << bstate << endl;
+          oldState = bstate;
+        }
+
+      // check encoder position
+      int epos = ringCoder->getEncoderPosition();
+      if (epos != oldPos)
+        {
+          cout << "Encoder position changed from " << oldPos << " to "
+               << epos << endl;
+          oldPos = epos;
+        }
+
+      usleep(100000);
+    }
+      
+  //! [Interesting]
+  
+  delete ringCoder;
+  
+  return 0;
+}

examples/javascript/rgbringcoder.js

@@ -0,0 +1,98 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+var ringcoderObj = require('jsupm_rgbringcoder');
+
+// There are a lot of pins to hook up.  These pins are valid for the
+// Edison board, but may need to be adjusted for other platforms.
+
+// In order:
+// enable      - 4
+// latch       - 10
+// clear       - 11
+// clock       - 2
+// data        - 9
+// switch      - 7
+
+// red pwm     - 3
+// green pwm   - 5
+// blue pwm    - 6
+
+// encA        - 12
+// encB        - 13
+var ringCoder = new ringcoderObj.RGBRingCoder(4, 10, 11, 2, 9, 7, 12, 13, 3, 
+                                              5, 6);
+
+var spin = 0x0001;
+var oldState = false;
+var oldPos = 0;
+
+// Lets go green
+ringCoder.setRGBLED(0.99, 0.01, 0.99);
+
+setInterval(function()
+{
+    // you spin me round...
+    if ((spin & 0xffff) == 0)
+        spin = 0x0001;
+    
+    ringCoder.setRingLEDS(spin);
+    spin <<= 1;
+    
+    // check button state
+    var bstate = ringCoder.getButtonState();
+    if (bstate != oldState)
+    {
+        console.log("Button state changed from " + oldState + " to "
+            + bstate);
+        oldState = bstate;
+    }
+    
+    // check encoder position
+    var epos = ringCoder.getEncoderPosition();
+    if (epos != oldPos)
+    {
+        console.log("Encoder position changed from " + oldPos + " to "
+            + epos);
+        oldPos = epos;
+    }
+}, 100);
+
+
+// exit on ^C
+process.on('SIGINT', function()
+{
+    ringCoder = null;
+    ringcoderObj.cleanUp();
+    ringcoderObj = null;
+    console.log("Exiting.");
+    process.exit(0);
+});
+
+
+
+

examples/python/rgbringcoder.py

@@ -0,0 +1,90 @@
+#!/usr/bin/python
+# Author: Jon Trulson <jtrulson@ics.com>
+# Copyright (c) 2015 Intel Corporation.
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import time, sys, signal, atexit
+import pyupm_rgbringcoder as upmRGBRingCoder
+
+# There are a lot of pins to hook up.  These pins are valid for the
+# Edison board, but may need to be adjusted for other platforms.
+
+# In order:
+# enable      - 4
+# latch       - 10
+# clear       - 11
+# clock       - 2
+# data        - 9
+# switch      - 7
+
+# red pwm     - 3
+# green pwm   - 5
+# blue pwm    - 6
+
+# encA        - 12
+# encB        - 13
+ringCoder = upmRGBRingCoder.RGBRingCoder(4, 10, 11, 2, 9, 7, 12, 13, 3, 
+                                         5, 6)
+
+## Exit handlers ##
+# This stops python from printing a stacktrace when you hit control-C
+def SIGINTHandler(signum, frame):
+	raise SystemExit
+
+# This function lets you run code on exit,
+# including functions from ringCoder
+def exitHandler():
+	print "Exiting"
+	sys.exit(0)
+
+# Register exit handlers
+atexit.register(exitHandler)
+signal.signal(signal.SIGINT, SIGINTHandler)
+
+
+spin = 0x0001;
+oldState = False;
+oldPos = 0;
+
+# Lets go green
+ringCoder.setRGBLED(0.99, 0.01, 0.99);
+
+while(1):
+        # you spin me round...
+        if ((spin & 0xffff) == 0):
+                spin = 0x0001
+    
+        ringCoder.setRingLEDS(spin)
+        spin <<= 1
+
+        # check button state
+        bstate = ringCoder.getButtonState()
+        if (bstate != oldState):
+                print "Button state changed from", oldState, " to ", bstate
+                oldState = bstate
+    
+        # check encoder position
+        epos = ringCoder.getEncoderPosition()
+        if (epos != oldPos):
+                print "Encoder position changed from", oldPos, "to", epos
+                oldPos = epos
+
+        time.sleep(0.1)

src/rgbringcoder/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "rgbringcoder")
+set (libdescription "upm Sparkfun RGB RingCoder")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/rgbringcoder/jsupm_rgbringcoder.i

@@ -0,0 +1,9 @@
+%module jsupm_rgbringcoder
+%include "../upm.i"
+%include "stdint.i"
+
+%{
+    #include "rgbringcoder.h"
+%}
+
+%include "rgbringcoder.h"

src/rgbringcoder/pyupm_rgbringcoder.i

@@ -0,0 +1,9 @@
+%module pyupm_rgbringcoder
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%include "rgbringcoder.h"
+%{
+    #include "rgbringcoder.h"
+%}

src/rgbringcoder/rgbringcoder.cxx

@@ -0,0 +1,187 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <iostream>
+
+#include "rgbringcoder.h"
+
+using namespace std;
+using namespace upm;
+
+RGBRingCoder::RGBRingCoder(int en, int latch, int clear, int clk, int dat, 
+                           int sw, int encA, int encB, int red, 
+                           int green, int blue) :
+  m_gpioEn(en), m_gpioLatch(latch), m_gpioClear(clear), m_gpioClock(clk), 
+  m_gpioData(dat), m_gpioSwitch(sw), m_gpioEncA(encA), m_gpioEncB(encB),
+  m_pwmRed(red), m_pwmGreen(green), m_pwmBlue(blue)
+{
+  m_counter = 0;
+
+  // enable, set LOW
+  m_gpioEn.dir(mraa::DIR_OUT);
+  m_gpioEn.write(0);
+
+  // latch
+  m_gpioLatch.dir(mraa::DIR_OUT);
+  m_gpioLatch.write(0);
+  
+  // clear, HIGH
+  m_gpioClear.dir(mraa::DIR_OUT);
+  m_gpioLatch.write(1);
+  
+  // clock
+  m_gpioClock.dir(mraa::DIR_OUT);
+  m_gpioClock.write(0);
+  
+  // data
+  m_gpioData.dir(mraa::DIR_OUT);
+  m_gpioData.write(0);
+
+  // switch
+  m_gpioSwitch.dir(mraa::DIR_IN);
+  m_gpioSwitch.mode(mraa::MODE_HIZ);  // no pullup
+  m_gpioSwitch.write(0);
+  
+  // ecoder A interrupt
+  m_gpioEncA.dir(mraa::DIR_IN);
+  m_gpioEncA.mode(mraa::MODE_PULLUP);
+  // EDGE_BOTH would be nice...
+  m_gpioEncA.isr(mraa::EDGE_RISING, &interruptHandler, this);
+
+  // ecoder B interrupt
+  m_gpioEncB.dir(mraa::DIR_IN);
+  m_gpioEncB.mode(mraa::MODE_PULLUP);
+  // EDGE_BOTH would be nice...
+  m_gpioEncB.isr(mraa::EDGE_RISING, &interruptHandler, this);
+
+  // RGB LED pwms, set to off
+
+  // Red led
+  m_pwmRed.period_ms(1);
+  m_pwmRed.write(0.99);
+  m_pwmRed.enable(true);
+
+  // Green led
+  m_pwmGreen.period_ms(1);
+  m_pwmGreen.write(0.99);
+  m_pwmGreen.enable(true);
+
+  // Blue led
+  m_pwmBlue.period_ms(1);
+  m_pwmBlue.write(0.99);
+  m_pwmBlue.enable(true);
+
+  // whew.
+}
+
+RGBRingCoder::~RGBRingCoder()
+{
+  m_gpioEncA.isrExit();
+  m_gpioEncB.isrExit();
+
+  // turn off the ring
+  setRingLEDS(0x0000);
+
+  // Turn of RGB LEDS
+  setRGBLED(0.99, 0.99, 0.99);
+  usleep(100000);
+
+  // turn off PWM's
+  m_pwmRed.enable(false);
+  m_pwmGreen.enable(false);
+  m_pwmBlue.enable(false);
+}
+
+void RGBRingCoder::interruptHandler(void *ctx)
+{
+   upm::RGBRingCoder *This = (upm::RGBRingCoder *)ctx;
+
+   // From the Sparkfun guys:
+
+   // enc_states[] is a fancy way to keep track of which direction
+   // the encoder is turning. 2-bits of oldEncoderState are paired
+   // with 2-bits of newEncoderState to create 16 possible values.
+   // Each of the 16 values will produce either a CW turn (1),
+   // CCW turn (-1) or no movement (0).
+
+   static int8_t enc_states[] = {0, -1, 1, 0, 1, 0, 0, -1,
+                                 -1, 0, 0, 1, 0, 1, -1, 0};
+   static uint8_t oldEncoderState = 0;
+   static uint8_t newEncoderState = 0;
+
+   // First, find the newEncoderState. This'll be a 2-bit value
+   // the msb is the state of the B pin. The lsb is the state
+   // of the A pin on the encoder.
+   newEncoderState = (This->m_gpioEncB.read()<<1) | 
+     (This->m_gpioEncA.read());
+
+   // Now we pair oldEncoderState with new encoder state
+   // First we need to shift oldEncoder state left two bits.
+   // This'll put the last state in bits 2 and 3.
+
+   oldEncoderState <<= 2;
+
+   // Mask out everything in oldEncoderState except for the previous state
+   oldEncoderState &= 0x0c;
+
+   // Now add the newEncoderState. oldEncoderState will now be of
+   // the form: 0b0000(old B)(old A)(new B)(new A)
+   oldEncoderState |= newEncoderState;
+
+   // update our counter
+   This->m_counter += enc_states[oldEncoderState & 0x0f];
+}
+
+void RGBRingCoder::setRingLEDS(uint16_t bits)
+{
+  // First we need to set latch LOW
+  m_gpioLatch.write(0);
+
+  // Now shift out the bits, msb first
+  for (int i=0; i<16; i++)
+    {
+      m_gpioData.write( ((bits & 0x8000) ? 1 : 0) );
+
+      // pulse the clock pin
+      m_gpioClock.write(1);
+      m_gpioClock.write(0);
+
+      bits <<= 1;
+    }
+
+  // latch it
+  m_gpioLatch.write(1);
+}
+
+bool RGBRingCoder::getButtonState()
+{
+  return (m_gpioSwitch.read() ? true : false);
+}
+
+void RGBRingCoder::setRGBLED(float r, float g, float b)
+{
+  m_pwmRed.write(r);
+  m_pwmGreen.write(g);
+  m_pwmBlue.write(b);
+}

src/rgbringcoder/rgbringcoder.h

@@ -0,0 +1,151 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2015 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <iostream>
+#include <string>
+#include <stdint.h>
+#include <unistd.h>
+#include <mraa/gpio.hpp>
+#include <mraa/pwm.hpp>
+
+
+namespace upm {
+  /**
+   * @brief Sparkfun RGB RingCoder
+   * @defgroup rgbringcoder libupm-rgbringcoder
+   * @ingroup seeed gpio led
+   */
+
+  /**
+   * @library rgbringcoder
+   * @sensor rgbringcoder
+   * @comname Sparkfun RGB Ringcoder
+   * @type led
+   * @web https://www.sparkfun.com/products/11040
+   * @man sparkfun
+   * @con pwm gpio
+   *
+   * @brief API for the Sparkfun RGB Ringcoder
+   *
+   * The RGB RingCoder is a breakout board, a circular LED containing
+   * 16 LEDs arranged in a ring, and a rotary encoder.  The encoder
+   * contains an RGB LED as well as a push button function.
+   *
+   * The device will require 11 pins, 3 of which must be PWM capable
+   * (for the RGB LEDs).
+   *
+   * @snippet rgbringcoder.cxx Interesting
+   */
+
+  class RGBRingCoder {
+  public:
+
+    /**
+     * RGBRingCoder constructor
+     *
+     * @param en enable gpio
+     * @param latch latch gpio
+     * @param clear clear gpio
+     * @param clk clock gpio
+     * @param dat data out gpio
+     * @param sw push button switch gpio
+     * @param encA encoder A gpio
+     * @param encB encoder B gpio
+     * @param red RGB red led pwm
+     * @param green RGB green led pwm
+     * @param blue RGB blue led pwm
+     */
+    RGBRingCoder(int en, int latch, int clear, int clk, int dat, int sw, 
+                 int encA, int encB, int red, int green, int blue);
+
+    /**
+     * RGBRingCoder Destructor
+     */
+    ~RGBRingCoder();
+
+    /*
+     * set the state of the ring LEDs.  This is a 16 bit value, where
+     * each bit corresponds to one of the ring LEDs.  A 1 bit means
+     * that specific LED is on, and 0 bit means that specific LED is
+     * off.
+     *
+     * @param bits the bits representing the state of each LED
+     */
+    void setRingLEDS(uint16_t bits);
+
+    /* 
+     * return the state of the button
+     *
+     * @return true if the button is pressed, false otherwise
+     */
+    bool getButtonState();
+
+    /* 
+     * get the current rotary encoder counter value
+     *
+     * @return the current counter value
+     */
+    int getEncoderPosition() { return m_counter; };
+
+    /* 
+     * set the encoder counter to 0
+     */
+    void clearEncoderPosition() { m_counter = 0; };
+
+    /* 
+     * set the intensity of the red, grenn, and blue LEDs.  Values can
+     * be between 0.0 and 1.0.  Lower is brighter, higher is dimmer.
+     *
+     * @param r the red value, valid values are between 0.0 and 1.0
+     * @param g the green value, valid values are between 0.0 and 1.0
+     * @param b the blue value, valid values are between 0.0 and 1.0
+     */
+    void setRGBLED(float r, float g, float b);
+
+  private:
+    
+    mraa::Gpio m_gpioEn;
+
+    mraa::Gpio m_gpioLatch;
+    mraa::Gpio m_gpioClear;
+    mraa::Gpio m_gpioClock;
+    mraa::Gpio m_gpioData;
+
+    mraa::Gpio m_gpioSwitch;
+
+    mraa::Pwm m_pwmRed;
+    mraa::Pwm m_pwmGreen;
+    mraa::Pwm m_pwmBlue;
+
+    mraa::Gpio m_gpioEncA;
+    mraa::Gpio m_gpioEncB;
+
+    static void interruptHandler(void *ctx);
+    volatile int m_counter;
+
+  };
+}
+
+