Diff: main.cpp

Revision:

1:770e1fc380ff

Parent:

0:41f2e835aa5d

Child:

2:f2b42e387d08

diff -r 41f2e835aa5d -r 770e1fc380ff main.cpp
--- a/main.cpp	Sun Sep 11 04:32:13 2016 +0000
+++ b/main.cpp	Mon Sep 26 10:25:54 2016 +0000
@@ -20,17 +20,31 @@
     NVIC_SetPriority(I2C_IRQn, 10);
     i2cslave i2c(dp5, dp27, Registar);
     /*change address every micon***********/
-    i2c.address(MD1_addr);
+    i2c.address(MD6_addr);
     /**************************************/
     i2c.frequency(1000000);
     Ticker tic;
     tic.attach(check, 0.1);
+    char prev_motor1_state = 0;
+    char prev_motor2_state = 0;
     while(1)
     {
         pwm1 = (float)(Registar[motor1_pwm]) / 255;
         pwm2 = (float)(Registar[motor2_pwm]) / 255;
+        if(Registar[motor1_state] != prev_motor1_state)
+        {
+            motor1 = 0;
+            wait_ms(5);
+        }
+        if(Registar[motor2_state] != prev_motor2_state)
+        {
+            motor2 = 0;
+            wait_ms(1);
+        }
         motor1 = Registar[motor1_state];
         motor2 = Registar[motor2_state];
+        prev_motor1_state = Registar[motor1_state];
+        prev_motor2_state = Registar[motor2_state];
         wait_ms(40);
     }
 }