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test0417
Diff: main.cpp
- Revision:
- 3:996d0d74fb11
- Parent:
- 2:3d64970eeb96
- Child:
- 4:186241a75818
--- a/main.cpp Wed Oct 24 06:03:27 2018 +0000 +++ b/main.cpp Wed Oct 24 06:09:41 2018 +0000 @@ -6,8 +6,10 @@ Serial serialPort( PTE0, PTE1); +char motobuffer[3]; + int Right_ADDR = 0x14<<1; -int Left_ADDR = 0x15<<1; +int Left_ADDR = 0x15<<1; void sw2_release(void) { @@ -20,7 +22,7 @@ i2c.write(Right_ADDR); i2c.write(0); i2c.write(0xe2); - i2c.write(0); + i2c.write(0); i2c.stop(); } void Driving_Left(void) @@ -28,8 +30,8 @@ i2c.start(); i2c.write(Left_ADDR); i2c.write(0); - i2c.write(0xe2); - i2c.write(0); + i2c.write(motobuffer[1]); + i2c.write(motobuffer[2]); i2c.stop(); } @@ -39,14 +41,19 @@ sw2.rise(&sw2_release); serialPort.baud(115200); serialPort.printf("WPI Serial Port Started\n"); - - i2c.frequency(100000); + + i2c.frequency(100000); wait_ms(100); - + + int motorOutPut=2000; + motobuffer[0]=0x00; + motobuffer[1]= motorOutPut>>8; + motobuffer[2]=motorOutPut; + Driving_Right(); wait_ms(100); Driving_Left(); - + while (true) { }