Revision 4:33ca85c52dc0, committed 2014-04-12

Comitter:

Fairy_Paolina

Date:

Sat Apr 12 20:25:58 2014 +0000

Parent:

3:01272a06e922

Commit message:

modified;

Changed in this revision

diff -r 01272a06e922 -r 33ca85c52dc0 PololuQik2.cpp
--- a/PololuQik2.cpp	Sat Apr 05 07:25:28 2014 +0000
+++ b/PololuQik2.cpp	Sat Apr 12 20:25:58 2014 +0000
@@ -41,6 +41,18 @@
     errorPin.rise(ErrorFunction);
 }
 
+uint8_t PololuQik2::GetMotor0Current() {
+    unsigned char message[] = { MOTOR0CURRENTPACKET };
+    sendMessage(message , 1);
+    return readByte();
+}
+
+uint8_t PololuQik2::GetMotor1Current() {
+    unsigned char message[] = { MOTOR1CURRENTPACKET };
+    sendMessage(message , 1);
+    return readByte();
+}
+
 void PololuQik2::begin() {
     serialConnection.baud(38400);
     wait_ms(100); // Allow Serial baud rate to propagate

diff -r 01272a06e922 -r 33ca85c52dc0 PololuQik2.h
--- a/PololuQik2.h	Sat Apr 05 07:25:28 2014 +0000
+++ b/PololuQik2.h	Sat Apr 12 20:25:58 2014 +0000
@@ -48,6 +48,9 @@
 #define MOTOR1COASTPACKET 0x87 /**< The packet used to all motor 1 to coast */
 #define FWVERSIONPACKET 0x81 /**< The packet to query the firmware version of the motor controller */
 #define ERRORPACKET 0x82 /**< The packet to request the error state from the motor controller */
+#define MOTOR0CURRENTPACKET 0x90
+#define MOTOR1CURRENTPACKET 0x91
+
 
 #define DATAOVERRUNERRORBIT 3 /**< The bit which signifies a data over run error */
 #define FRAMEERRORBIT 4 /**< The bit which signifies a frame error */
@@ -84,6 +87,10 @@
      */
     PololuQik2::PololuQik2(PinName TxPin, PinName RxPin, PinName RSTPin, PinName errPin, void (*errorFunction)(void), bool enCRC);
 
+    // get current
+    uint8_t PololuQik2::GetMotor0Current();
+    uint8_t PololuQik2::GetMotor1Current();
+    //
     /**
      * This method initialises and begins communication with the motor controller.
      * This method is also called when an error is exhibited.