Revision 2:2b98a651b0a1, committed 2015-12-05

Comitter:

taurin

Date:

Sat Dec 05 11:21:06 2015 +0000

Parent:

1:563b7d0b896f

Child:

3:2bdb60bbc665

Commit message:

????????????????????????;

Changed in this revision

--- a/main.cpp	Sat Dec 05 03:19:30 2015 +0000
+++ b/main.cpp	Sat Dec 05 11:21:06 2015 +0000
@@ -18,7 +18,7 @@
 
 void rs485_rx()
 {
-    int rec_data = rs485.getc();
+    signed char rec_data = rs485.getc();
     switch(rec_data) {
         case 'A':
             servo_deg1 = rs485.getc();
@@ -26,19 +26,21 @@
             break;
         case 'B':
             servo_deg2 = rs485.getc();
-            pc.printf("counter2:%d\n\r",servo_deg2);
+            //pc.printf("counter2:%d\n\r",servo_deg2);
             break;
         case 'C':
             Receiver = 1;
             wait_ms(1);
             rs485.putc('X');
-            rs485.putc(acc[0]);
+            rs485.putc((signed char)acc[0]);
             rs485.putc('Y');
-            rs485.putc(acc[1]);
+            rs485.putc((signed char)acc[1]);
             rs485.putc('Z');
-            rs485.putc(acc[2]);
+            rs485.putc((signed char)acc[2]);
+//            rs485.printf("X%iY%iZ%i\n\r",(short)acc[0],(short)acc[1],(short)acc[2]);
             wait_ms(2);
             Receiver = 0;
+            //pc.printf("x:%d,y:%d,z:%d\n\r",(signed char)acc[0],(signed char)acc[1],(signed char)acc[2]);
             break;
         default:
             wait_us(5);
@@ -70,6 +72,6 @@
         accelerometer.getOutput(acc);
         servo1.pulsewidth(0.00093 + (servo_deg1 / 180.0) * (0.00235 - 0.00077));
         servo2.pulsewidth(0.00093 + (servo_deg2 / 180.0) * (0.00235 - 0.00077));
-        wait_ms(100);
+        wait_ms(10);
     }
 }