ARES / RoboClaw

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Dependents:   RoboClaw TestMyPathFind Robot2016_2-0_STATIC Stressed ... more

Files at this revision

API Documentation at this revision

Revision 4:e64524a61cfe, committed 2015-12-04

Comitter:
sype
Date:
Fri Dec 04 11:18:01 2015 +0000
Parent:
3:5c6a9045c8f7
Child:
5:ad00b3431ff5
Commit message:
80% motorisation

Changed in this revision

RoboClaw.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/RoboClaw.cpp	Tue Nov 24 21:56:10 2015 +0000
+++ b/RoboClaw.cpp	Fri Dec 04 11:18:01 2015 +0000
@@ -1,7 +1,7 @@
 #include "RoboClaw.h"
 #include <stdarg.h>
 
-#define MAXTRY 2
+#define MAXTRY 1
 #define SetDWORDval(arg) (uint8_t)(arg>>24),(uint8_t)(arg>>16),(uint8_t)(arg>>8),(uint8_t)arg
 #define SetWORDval(arg) (uint8_t)(arg>>8),(uint8_t)arg
 
@@ -29,8 +29,8 @@
 }
 
 void RoboClaw::write_n(uint8_t cnt, ... ){
-    uint8_t retry = MAXTRY;
-    do {
+    //uint8_t retry = MAXTRY;
+    //do {
         crc_clear();
         va_list marker;
         va_start( marker, cnt );
@@ -43,7 +43,7 @@
         uint16_t crc = crc_get();
         _roboclaw.putc(crc>>8);
         _roboclaw.putc(crc);
-    } while(retry--);
+    //} while(_roboclaw.getc() != 0xFF);
 }
 
 void RoboClaw::write_(uint8_t address, uint8_t command, uint8_t data, bool reading, bool crcon){