Diff: DriveController.cpp

Revision:

15:150ec9448efc

Parent:

14:7a4cf2ed2499

--- a/DriveController.cpp	Wed Apr 15 14:40:08 2015 +0000
+++ b/DriveController.cpp	Sat Apr 18 02:54:55 2015 +0000
@@ -1,4 +1,5 @@
 #include "DriveController.h"
+#include "navcontroller.h"
 
 #define MOTOR_SCALE 0.5
 #define CORRECTION_SCALE 0.15
@@ -8,23 +9,23 @@
 
 DriveController::DriveController() : i2c(PTC2, PTC1), treadSpeed1(PTB0), treadSpeed2(PTB1), treadDirection1(PTE20), treadDirection2(PTE21),
     sensors(PTC7, PTC0, PTC3, PTC4, PTC5, PTC6, PTC10, PTC11, PTC9, PTC8, PTA5, PTA4, PTA12, PTD4, PTA2, PTA1, PTC12, PTC13,
-    PTC16, PTC17, PTD1, PTD0, PTD5, PTD13)
+    PTC16, PTC17, PTD1, PTD0, PTD5, PTD13), com1(PTC13), com2(PTC12)
 {
-    
+ 
 }
 
 void DriveController::go()
 {
     sensors.setThreshold();
     
-    wait(10);
+    // wait(10);
     
     treadSpeed1.period_us(50);  //setting pwm period for all wheels to 20khz
     treadSpeed2.period_us(50);
     
     //spinTest();
     
-    while(true) //test loop
+    /*while(true) //test loop
     {
         move();
         wait(0.5);
@@ -34,9 +35,9 @@
         wait(0.5);
         rotate('R');
         wait(0.5);
-    }
+    }*/
     
-    /*while(true)
+    while(true)
     {
         getCommand();
         
@@ -52,7 +53,7 @@
         }
             
         sendComplete();
-    }*/    
+    }  
 }
 
 void DriveController::move(char direction)
@@ -197,7 +198,7 @@
     {
         status = i2c.receive();
         
-        if(status == 2) //if status is WriteGeneral
+        if(status == I2CSlave::WriteAddressed) //if status is WriteAddressed
         {
             command = i2c.read();
             received = true;
@@ -205,11 +206,6 @@
     }
 }
 
-void DriveController::sendComplete()
-{
-    i2c.write(1);
-}
-
 void DriveController::spinTest()
 {
     treadDirection1 = 1;