ichinoseki_Bteam_2019 / SPI_Encoder

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Dependents:   ArmNode

Diff: SPI_Encoder.cpp

Revision:
2:8154b75f836f
Parent:
1:7826ec4d9405
Child:
3:d3694519bd73
--- a/SPI_Encoder.cpp	Fri Aug 30 03:06:00 2019 +0000
+++ b/SPI_Encoder.cpp	Sun Sep 15 17:39:58 2019 +0000
@@ -5,7 +5,7 @@
 SPI_Encoder::SPI_Encoder(PinName mosi, PinName miso, PinName sclk, PinName _cs0, PinName _cs1, PinName _cs2, PinName _cs3, float t) : encoder(mosi, miso, sclk), cs0(_cs0), cs1(_cs1), cs2(_cs2), cs3(_cs3)
 {
     encoder.format(8,1);
-    encoder.frequency(10000000);
+    encoder.frequency(4000000);
     delta_t = t;
     for(int i = 0; i < encoder_num; i++)
         direction[i] = 0;
@@ -59,7 +59,7 @@
     _switching(num, 0);
     uint8_t SPI_temp = encoder.write(SPITransmit);
     _switching(num, 1);
-    wait_us(10);            //Timmig is critical
+    wait_us(20);            //Timmig is critical
     return (SPI_temp);
 }