Diff: main.cpp

Revision:

8:b7a08dbbe1f9

Parent:

7:7f6490ede6eb

--- a/main.cpp	Mon Jan 16 04:20:35 2017 +0000
+++ b/main.cpp	Mon Jan 16 21:48:18 2017 +0000
@@ -9,6 +9,7 @@
 #define POWER_OFF 32768
 #define BACKWARD_MAX 0
 #define FORWARD_MAX USHRT_MAX
+#define SEND_PERIOD_TIME_S 0.002
 
 MODSERIAL pcSerial(USBTX, USBRX);
 
@@ -29,6 +30,10 @@
 SerialComm serialComm(&pcSerial);
 
 bool readyToSendNext;
+void timerFcn()
+{
+    readyToSendNext = true;
+}
 
 int main(void)
 {
@@ -52,9 +57,9 @@
     pcSerial.printf("Start!\n");
 
     readyToSendNext = false;
-    /*
-    aTimer.attach(&timerFcn, 0.002); // the address of the function to be attached (flip) and the interval (2 seconds)
-    */
+    
+    //aTimer.attach(&timerFcn, SEND_PERIOD_TIME_S ); // the address of the function to be attached (flip) and the interval (2 seconds)
+    
     while(1) {
         if(serialComm.checkIfNewMessage()) {
             // read message from PC in order to clear the buffer
@@ -92,14 +97,16 @@
         }
 
         if(readyToSendNext == true) {
-            led4 = 1;
+            //led4 = 1;
             // reading in current speed
             motorSpeedMeas = motorSpeed.read_u16();
             //sending speed to host
-            serialComm.sendUnsignedShort(motorSpeedMeas);
+            //serialComm.sendUnsignedShort(motorSpeedMeas);
+
+            serialComm.sendUnsignedShort(motorCommandReceived);
 
             readyToSendNext = false;
-            led4 = 0;
+            //led4 = 0;
         }
 
     }