CRAC Team
/
Strategie_13h30
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CRAC-Strat_2017_homologation_gros_rob
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Diff: AX12-V2/AX12-V2.cpp
- Revision:
- 12:14729d584500
- Parent:
- 8:0edc7dfb7f7e
- Child:
- 14:c8fc06c4887f
diff -r ed13a480ddca -r 14729d584500 AX12-V2/AX12-V2.cpp
--- a/AX12-V2/AX12-V2.cpp Mon May 02 19:40:59 2016 +0000
+++ b/AX12-V2/AX12-V2.cpp Mon May 09 09:10:17 2016 +0000
@@ -105,7 +105,7 @@
/****************************************************************************************/
void AX12_notifyCANEnd(unsigned char id)
{
- if(waitingAckFrom == SERVO_AX12_DONE) {
+ if(waitingAckFrom == SERVO_AX12_DONE && waitingAckID == id) {
waitingAckFrom = 0;
waitingAckID = 0;
}
@@ -150,7 +150,7 @@
int i=0;
int dataToSendLength = 0;
char dataToSend[100];
-
+ int sendTwice = 0;
for(i=0;i<lastAX12Use;i++)
{
@@ -179,11 +179,13 @@
//printf("need to send %d data\n",dataToSendLength);
if(dataToSendLength > 0)//Il y a des données à envoyer en local
{
- AX12_syncWrite(AX12_Serial1, AX12_REG_GOAL_POSITION, dataToSendLength, dataToSend);
- //wait_ms(10);
- AX12_syncWrite(AX12_Serial2, AX12_REG_GOAL_POSITION, dataToSendLength, dataToSend);
+ for(sendTwice=0;sendTwice<2;sendTwice++)
+ {
+ AX12_syncWrite(AX12_Serial1, AX12_REG_GOAL_POSITION, dataToSendLength, dataToSend);
+ //wait_ms(10);
+ AX12_syncWrite(AX12_Serial2, AX12_REG_GOAL_POSITION, dataToSendLength, dataToSend);
+ }
}
-
}
/****************************************************************************************/