Diff: main.cpp

Revision:

3:ab8084bfcb53

Parent:

2:7afc501b8283

--- a/main.cpp	Mon Sep 27 02:53:32 2021 +0000
+++ b/main.cpp	Mon Sep 27 04:13:15 2021 +0000
@@ -1,7 +1,7 @@
 #include "mbed.h"
 #include "crc.h"
 
-#define WAIT_TIME_MS 5
+#define WAIT_TIME_MS 1
 #define LEN 100
 
 Serial pc(USBTX, USBRX);
@@ -46,7 +46,7 @@
         for (int i = 0; i< elements; i++) {
             uart.putc(packetBuffer[i]);
         }
-        wait_ms(10);         // fix this!!!
+        wait_ms(WAIT_TIME_MS);         // fix this!!!
         RTS = 0;       // Disable Tx / Enable Rx
     }
 
@@ -81,11 +81,11 @@
     //nextReload = 11;
     RTS = 1;
     waitForReceive = 1;
-    wait_us(100);
+    wait_us(15);
     for (int i = 0; i < 14; i++) {
         uart.putc(tx_buffer[i]);
     }
-    wait_us(350);
+    wait_us(25);
     RTS = 0;
  
     
@@ -123,7 +123,7 @@
         for (int i = 0; i< elements; i++) {
             uart.putc(packetBuffer[i]);
         }
-        wait_ms(10);         // fix this!!!
+        wait_us(25);         // fix this!!!
         RTS = 0;       // Disable Tx / Enable Rx
     }
 
@@ -156,10 +156,11 @@
         for (int i = 0; i< elements; i++) {
             uart.putc(packetBuffer[i]);
         }
-        wait_ms(WAIT_TIME_MS);        // fix this!!!
+        wait_ms(5);        // fix this!!!
         RTS = 0;       // Disable Tx / Enable Rx
-        wait_ms(10);
+        //wait_ms(10);
     }
+    wait_ms(10);
 }
 void ledOn(unsigned char ID)
 {
@@ -190,8 +191,8 @@
         }
         wait_ms(WAIT_TIME_MS);         // fix this!!!
         RTS = 0;       // Disable Tx / Enable Rx
-        wait_ms(10);
     }
+    wait_ms(10);
 }
 
 void ledOff(unsigned char ID)
@@ -221,10 +222,10 @@
         for (int i = 0; i< elements; i++) {
             uart.putc(packetBuffer[i]);
         }
-        wait_ms(5);         // fix this!!!
+        wait_ms(WAIT_TIME_MS);         // fix this!!!
         RTS = 0;       // Disable Tx / Enable Rx
-        wait_ms(10);
     }
+    wait_ms(10);
 }
 
 
@@ -255,10 +256,10 @@
         for (int i = 0; i< elements; i++) {
             uart.putc(packetBuffer[i]);
         }
-        wait_ms(WAIT_TIME_MS);         // fix this!!!
+        wait_ms(5);         // fix this!!!
         RTS = 0;       // Disable Tx / Enable Rx
-        wait_ms(10);
     }
+    wait_ms(10);
 }
 
 void enCurMode(unsigned char ID)
@@ -288,7 +289,7 @@
         for (int i = 0; i< elements; i++) {
             uart.putc(packetBuffer[i]);
         }
-        wait_ms(WAIT_TIME_MS);         // fix this!!!
+        wait_ms(5);         // fix this!!!
         RTS = 0;       // Disable Tx / Enable Rx
         wait_ms(10);
     }
@@ -339,11 +340,11 @@
     RTS.mode(OpenDrainNoPull);
     RTS.output();
     pc.baud(115200);
-    uart.baud(57600);
+    uart.baud(1000000);
     RTS = 0;
     wait(1);
     
-    //setBaud(0x01, 0x01);
+    //setBaud(0x01, 0x03);
     //wait(1);
     
     pc.printf("Program is running!\r\n");
@@ -352,6 +353,7 @@
     //wait(1);
     
     
+    /*
     getPosition(0x01);
     wait(1);
 
@@ -363,27 +365,36 @@
     }
     pc.printf("\n");
     pc.printf("done!n");
+    */
     
+    /*
+    ledOn(0x01);
+    wait(1);
+    ledOff(0x01);
+    wait(1);
+    
+    pc.printf("done!n");
+    */
     
     
     
-    /*
     ledOff(0x01);
     torqueEnable(0x01,0x00);
-    enPosMode(0x01);
-    //enCurMode(0x01);
+    //enPosMode(0x01);
+    enCurMode(0x01);
     wait(1);
     ledOn(0x01);
     //setP(0x01,100);
     torqueEnable(0x01,0x01);
     wait(1);
-    //setGoalCurrent(0x01, 0xF0, 0x00);
-    setGoalPosition(0x01,0x00,0x0F,0x00,0x00);
-    wait(5);
+    setGoalCurrent(0x01, 0xF0, 0x00);
+    //setGoalPosition(0x01,0x00,0x0F,0x00,0x00);
+    wait(1);
     ledOff(0x01);
     torqueEnable(0x01,0x00);
     //led = 1;
-    */
+    
+