Quadrotor

#ifndef LiquidCrystal_h

#define LiquidCrystal_h

#include <inttypes.h>

#include "Print.h"

// commands

#define LCD_CLEARDISPLAY 0x01

#define LCD_RETURNHOME 0x02

#define LCD_ENTRYMODESET 0x04

#define LCD_DISPLAYCONTROL 0x08

#define LCD_CURSORSHIFT 0x10

#define LCD_FUNCTIONSET 0x20

#define LCD_SETCGRAMADDR 0x40

#define LCD_SETDDRAMADDR 0x80

// flags for display entry mode

#define LCD_ENTRYRIGHT 0x00

#define LCD_ENTRYLEFT 0x02

#define LCD_ENTRYSHIFTINCREMENT 0x01

#define LCD_ENTRYSHIFTDECREMENT 0x00

// flags for display on/off control

#define LCD_DISPLAYON 0x04

#define LCD_DISPLAYOFF 0x00

#define LCD_CURSORON 0x02

#define LCD_CURSOROFF 0x00

#define LCD_BLINKON 0x01

#define LCD_BLINKOFF 0x00

// flags for display/cursor shift

#define LCD_DISPLAYMOVE 0x08

#define LCD_CURSORMOVE 0x00

#define LCD_MOVERIGHT 0x04

#define LCD_MOVELEFT 0x00

// flags for function set

#define LCD_8BITMODE 0x10

#define LCD_4BITMODE 0x00

#define LCD_2LINE 0x08

#define LCD_1LINE 0x00

#define LCD_5x10DOTS 0x04

#define LCD_5x8DOTS 0x00

class LiquidCrystal : public Print {

public:

  LiquidCrystal(uint8_t rs, uint8_t enable,

                uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,

                uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7);

  LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,

                uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,

                uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7);

  LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,

                uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3);

  LiquidCrystal(uint8_t rs, uint8_t enable,

                uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3);

  void init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable,

            uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,

            uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7);

  void begin(uint8_t cols, uint8_t rows, uint8_t charsize = LCD_5x8DOTS);

  void clear();

  void home();

  void noDisplay();

  void display();

  void noBlink();

  void blink();

  void noCursor();

  void cursor();

  void scrollDisplayLeft();

  void scrollDisplayRight();

  void leftToRight();

  void rightToLeft();

  void autoscroll();

  void noAutoscroll();

  void createChar(uint8_t, uint8_t[]);

  void setCursor(uint8_t, uint8_t); 

  virtual size_t write(uint8_t);

  void command(uint8_t);

  using Print::write;

private:

  void send(uint8_t, uint8_t);

  void write4bits(uint8_t);

  void write8bits(uint8_t);

  void pulseEnable();

  uint8_t _rs_pin; // LOW: command.  HIGH: character.

  uint8_t _rw_pin; // LOW: write to LCD.  HIGH: read from LCD.

  uint8_t _enable_pin; // activated by a HIGH pulse.

  uint8_t _data_pins[8];

  uint8_t _displayfunction;

  uint8_t _displaycontrol;

  uint8_t _displaymode;

  uint8_t _initialized;

  uint8_t _numlines,_currline;

};

#endif