Diff: main.cpp

Revision:

0:63c69398407f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Dec 25 05:13:13 2018 +0000
@@ -0,0 +1,60 @@
+#include "mbed.h"
+I2C i2c(A1, A0);// sda, scl
+
+const int addr8bit = 0x15 << 1;
+//I2C i2c( D14, D15);
+Serial pc(USBTX, USBRX);
+DigitalOut led1(LED1);
+
+
+int main()
+{
+
+
+    pc.baud(9600);
+    i2c.frequency (10000);
+    int address = 0x15 << 1;
+    int encoder;
+    char speed[10] = "2000";
+    char buffer[3];
+    char enc[6];
+    printf("send\n");
+    int motorOutPut=2000;
+    motorOutPut=atoi(speed);
+
+    buffer[0]=0x00;
+    buffer[1]= motorOutPut>>8;
+    buffer[2]=motorOutPut;
+    i2c.write(address,buffer,3);
+    i2c.stop();
+    // i2c.read(address,enc,6);
+    
+
+    while (1) {
+        //atoi
+ /*       if (pc.readable()) {
+            pc.gets(speed, sizeof(speed));
+            pc.printf("out : %s",speed);
+
+            motorOutPut=atoi(speed);
+
+            buffer[0]=0x00;
+            buffer[1]= motorOutPut>>8;
+            buffer[2]=motorOutPut;
+            i2c.write(address,buffer,3);
+           // i2c.write(addr8bit,buffer,3);
+            //i2c.stop();
+            led1 = !led1;
+       }*/
+        
+        i2c.read( addr8bit, enc, 6);
+        encoder=(enc[0]<<24)|(enc[1]<<16)|(enc[2]<<8)|(enc[3]);
+       // encoder=enc[0];
+        printf("%d\n", encoder);
+        
+        led1 = !led1;
+        
+        wait(1);
+
+    }
+}
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