Code to run the microcontrollers on the R5 competition bot
Dependencies: LineSensors mbed
Diff: DriveController.cpp
- Revision:
- 7:2f3e841ee0ff
- Parent:
- 6:83c1f8d6a65a
- Child:
- 8:9030d2e3a1e8
diff -r 83c1f8d6a65a -r 2f3e841ee0ff DriveController.cpp --- a/DriveController.cpp Fri Oct 17 17:54:16 2014 +0000 +++ b/DriveController.cpp Fri Oct 17 18:55:55 2014 +0000 @@ -167,10 +167,27 @@ void DriveController::getCommand() { + bool received = false; + int status; + int msg; + while(!received) + { + status = i2c.receive(); + + if(status == 2) //if status is WriteGeneral + { + msg = i2c.read(); + received = true; + } + } + + command = msg & 252; + edge = msg & 243; + } void DriveController::sendComplete() { - + i2c.write(1); }