Revision 11:1082c5b3b418, committed 2022-01-10

Comitter:

bouaziz

Date:

Mon Jan 10 08:59:37 2022 +0000

Parent:

10:7935bbc4ebf1

Child:

12:d9c9ef63c5ff

Commit message:

Zumo lib Polytech paris Saclay

Changed in this revision

--- a/readme.txt	Wed Dec 08 16:33:24 2021 +0000
+++ b/readme.txt	Mon Jan 10 08:59:37 2022 +0000
@@ -1,6 +1,7 @@
 
 Liste des commandes bas niveau
-speed : 0xAB attente retour 0x0A du robot ensuite envoi des 4 octets vitesse G D
+speed : 0xA4   0xA0 code + 4 nombre d'octets qui suivront,
+         attente retour 0x0A du robot ensuite envoi des 4 octets vitesse G D
 
 
 

--- 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);

--- a/zumo.h	Wed Dec 08 16:33:24 2021 +0000
+++ b/zumo.h	Mon Jan 10 08:59:37 2022 +0000
@@ -27,8 +27,11 @@
 #include "platform.h"
 
 
-#define SEND_SIGNATURE 0x81
-#define SEND_RAW_SENSOR_VALUES 0x86
+#define SEND_MOTOR_SPEED 0xA4
+#define SEND_MOTOR_STOP 0xA0
+
+
+
 #define SEND_CALIB_SENSOR_VALUES 0x87
 #define SEND_TRIMPOT 0xB0
 #define SEND_BATTERY_MILLIVOLTS 0xB1