Diff: ur_Bertl.cpp

Revision:

3:01b183fe8b41

Parent:

2:1cd559ff516b

Child:

4:76acfddc26fb

diff -r 1cd559ff516b -r 01b183fe8b41 ur_Bertl.cpp
--- 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 :-)