Diff: main.cpp

Revision:

10:0312e23ba3a1

Parent:

9:67d737d8a349

Child:

12:1378fba9c916

--- a/main.cpp	Fri Feb 25 10:13:06 2022 +0000
+++ b/main.cpp	Fri Mar 11 08:08:30 2022 +0000
@@ -29,8 +29,12 @@
 #define TRANSFER_SIZE   12
 
     char chaine[50];
-    float reception[3];
-    float Vavance, Vlat,Wz;
+    char tampon;
+    
+    char* reception8;
+    int16_t reception16[TRANSFER_SIZE/2];
+    reception8 = (char*) reception16;
+    int16_t Vavance, Vlat,Wz;
     int i;
     my_nrf24l01p.powerUp();
     my_nrf24l01p.setRfFrequency(2420);
@@ -40,24 +44,32 @@
     my_nrf24l01p.setCrcWidth(0);
     my_nrf24l01p.setRxAddress();
     my_nrf24l01p.enable();
+    
 
     pc_serie.write("Je suis le robot de Eve", strlen("Je suis le robot de Eve"));
 
     maled2 = 1;
+    MX12 servo_bus(PC_4, PC_5, 115200);
 
     while (1) {
 
 
         if (my_nrf24l01p.readable()) {
             maled2 = !maled2;
-            my_nrf24l01p.read( NRF24L01P_PIPE_P0, (char *)reception, TRANSFER_SIZE );
-            Vavance = reception[0];
-            Vlat = reception[1];
-            Wz = reception[2];
+            my_nrf24l01p.read( NRF24L01P_PIPE_P0, reception8, TRANSFER_SIZE );
+            for (i=0 ; i<TRANSFER_SIZE;i+=2){
+                tampon = reception8[i+1];
+                reception8[i+1] = reception8 [i];
+                reception8[i]= tampon;
+                }
+                
+            Vavance = reception16[0];
+            Vlat = reception16[1];
+            Wz = reception16[2];
             
-            sprintf(chaine," Vav = %f, Vlat = %f, Wz = %f\n\r",(float)Vavance, (float)Vlat, (float)Wz);
+            sprintf(chaine," Vav = %d, Vlat = %d, Wz = %d\n\r",(int)Vavance, (int)Vlat, (int)Wz);
             pc_serie.write(chaine, strlen(chaine));
-           // cmd_moteur(Vavance,  Vlat, Wz);
+        servo_bus.cmd_moteur(Vavance/1000.0,  Vlat/1000.0, Wz);
 
         }