HL OH / m3pi-sensors

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Fork of m3pi by Chris Styles

Files at this revision

API Documentation at this revision

Revision 9:2cdac562fcea, committed 2017-05-31

Comitter:
OHL
Date:
Wed May 31 08:09:14 2017 +0000
Parent:
8:4b7d6ea9b35b
Commit message:
Add raw sensors reading to m3pi lib;

Changed in this revision

m3pi.cpp Show annotated file Show diff for this revision Revisions of this file
m3pi.h Show annotated file Show diff for this revision Revisions of this file 
--- a/m3pi.cpp	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.cpp	Wed May 31 08:09:14 2017 +0000
@@ -194,6 +194,22 @@
     return(_ser.getc());
 }
 
+void m3pi::readsensor (int *sensor){
+   
+   _ser.putc(SEND_CALIBRATED_SENSOR_VALUES);  
+    sensor[0] = _ser.getc();
+    sensor[0] += _ser.getc() << 8;
+    sensor[1] = _ser.getc();
+    sensor[1] += _ser.getc() << 8;
+    sensor[2] = _ser.getc();
+    sensor[2] += _ser.getc() << 8;
+    sensor[3] = _ser.getc();
+    sensor[3] += _ser.getc() << 8;
+    sensor[4] = _ser.getc();
+    sensor[4] += _ser.getc() << 8;
+  
+    return;
+}
 
 
 

--- a/m3pi.h	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.h	Wed May 31 08:09:14 2017 +0000
@@ -32,6 +32,7 @@
 
 #define SEND_SIGNATURE 0x81
 #define SEND_RAW_SENSOR_VALUES 0x86
+#define SEND_CALIBRATED_SENSOR_VALUES 0x87
 #define SEND_TRIMPOT 0xB0
 #define SEND_BATTERY_MILLIVOLTS 0xB1
 #define DO_PLAY 0xB3
@@ -217,6 +218,8 @@
      * @param int The character to send to the 3pi
      */
     int print(char* text, int length);
+    
+    void readsensor(int *sensor);
 
 #ifdef MBED_RPC
     virtual const struct rpc_method *get_rpc_methods();