Filip Putz / Bertl

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Dependencies:   HCSR

Fork of Bertl by Franz Pucher

Files at this revision

API Documentation at this revision

Revision 3:01b183fe8b41, committed 2015-03-26

Comitter:
bulmecisco
Date:
Thu Mar 26 13:06:00 2015 +0000
Parent:
2:1cd559ff516b
Child:
4:76acfddc26fb
Commit message:
I2C Updated for LED problems

Changed in this revision

const.h Show annotated file Show diff for this revision Revisions of this file
ur_Bertl.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/const.h	Thu Mar 26 12:39:40 2015 +0000
+++ b/const.h	Thu Mar 26 13:06:00 2015 +0000
@@ -8,7 +8,7 @@
 */
 #ifndef CONST_H
 #define CONST_H
-//#define TIME
+#define TIME
 const int MOVE=500;
 const int TURN=500;
 

--- a/ur_Bertl.cpp	Thu Mar 26 12:39:40 2015 +0000
+++ b/ur_Bertl.cpp	Thu Mar 26 13:06:00 2015 +0000
@@ -15,6 +15,10 @@
 ur_Bertl::ur_Bertl() : _interrupt(P1_12)            // left sensor P1_13
 {
     i2c.frequency(40000);                           // I2C Frequenz 40kHz
+    char init1[2] = {0x6, 0x00};
+    char init2[2] = {0x7, 0xff};
+    i2c.write(0x40, init1, 2);
+    i2c.write(0x40, init2, 2);
     mg1 = mg2 = SPEED;
     _interrupt.rise(this, &ur_Bertl::increment);    // attach increment function of this counter instance ie. motor sensor
     _count = 0;
@@ -24,6 +28,10 @@
 ur_Bertl::ur_Bertl(PinName pin) :  _interrupt(pin)  // create the InterruptIn on the pin specified to Counter
 {
     i2c.frequency(40000);                           // I2C Frequenz 40kHz
+    char init1[2] = {0x6, 0x00};
+    char init2[2] = {0x7, 0xff};
+    i2c.write(0x40, init1, 2);
+    i2c.write(0x40, init2, 2);
     mg1 = mg2 = SPEED;
     _interrupt.rise(this, &ur_Bertl::increment);    // attach increment function of this counter instance ie. motor sensor
     _count = 0;
@@ -39,7 +47,7 @@
     MotorR_FORWARD = MotorL_FORWARD = 1;    // both motor forward ON
 #ifdef TIME
     wait_ms(MOVE);
-#else    
+#else
 
     while(_count < count+DISTANCE) {
         //if(!FrontIsClear())       // more convenient because there are no accidents :-)