2015_robocon_bteam / Mbed 2 deprecated 2015robot_main

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Dependencies:   PID QEI mbed

Fork of 2015robot_main by Naoto Deguchi

Diff: communicate.h

Revision:
67:658a54be9212
Parent:
59:9d66edf3e734
--- a/communicate.h	Wed Oct 07 09:01:34 2015 +0000
+++ b/communicate.h	Wed Oct 07 09:03:55 2015 +0000
@@ -7,6 +7,7 @@
 inline void initializeRS485(){
     RS485.format(8,Serial::Even);
 }
+/*
 inline void sendData(int address, int data5) {
     unsigned int data;
     if (data5 <= 31) {
@@ -14,6 +15,22 @@
         RS485.putc(data);
     }
 }
+*/
+inline void sendData(int address, unsigned int data8) {
+    int i;
+    unsigned int data;
+    if (data8 <= 15) {
+        data = (1 << 7) | (address << 4) | (data8 & 15);
+        RS485.putc(data);
+    }
+    else if (data8 <= 255) {
+        data = (i << 7) | (address << 4) | (data8 >> 4);
+        RS485.putc(data);
+        wait(0.0001);
+        data = (1 << 7) | (address << 4) | (data8 & 15);
+        RS485.putc(data);
+    }
+}
 
 #ifdef IM920
 /***IM920 Communication.***/