Projet_APP5 / zumo

librairie pour robot Zumo

Diff: zumo.cpp

Revision:
11:1082c5b3b418
Parent:
10:7935bbc4ebf1
Child:
12:d9c9ef63c5ff
--- a/zumo.cpp	Wed Dec 08 16:33:24 2021 +0000
+++ b/zumo.cpp	Mon Jan 10 08:59:37 2022 +0000
@@ -5,12 +5,12 @@
 #include "zumo.h"
 
 zumo::zumo(PinName nrst, PinName tx, PinName rx) : _nrst(nrst), _ser(tx, rx)  {
-    _ser.baud(38400);
+    _ser.baud(57600);
     reset();
 }
 
 zumo::zumo():  _nrst(p23), _ser(p9, p10){
-        _ser.baud(38400);
+        _ser.baud(57600);
     }   
 
 
@@ -19,13 +19,14 @@
 
 
 void zumo::stop (void) {
-    speed(0,0);
+    _ser.putc(SEND_MOTOR_STOP);
+    _ser.getc();
+    
 }
 
 char zumo::speed(short spg,short spd){
-    char v=0xAB;
-    _ser.putc(v);
-    _ser.getc();
+    char v;
+    _ser.putc(SEND_MOTOR_SPEED);
     _ser.putc(spg&0xff);
     _ser.putc((spg>>8)&0xff);
     _ser.putc(spd&0xff);