Aditya Mehrotra / SPIne_Plus_v2

Spine 18 motor board for Biomimetic Robotics Lab

Dependencies:   mbed-dev

Files at this revision

API Documentation at this revision

Revision 14:6fec697f62ef, committed 2022-02-04

Comitter:
adimmit
Date:
Fri Feb 04 22:38:23 2022 +0000
Parent:
13:87e7ce883f6a
Child:
15:56a06363a698
Commit message:
THE THING DOES THE THING;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Feb 04 19:42:10 2022 +0000
+++ b/main.cpp	Fri Feb 04 22:38:23 2022 +0000
@@ -535,8 +535,10 @@
        //update crc_chk from buffer
        spi_command = tmp_crc_chk;
        //do math on the input
-       process();
-       //control();
+       //process();
+       control();
+       PackAll();
+        WriteAll();
        //new_command = 1;
     //print_SPI_command();
     }
@@ -757,7 +759,8 @@
         //PackAll();
         //WriteAll();
     }
-    spi_data.checksum = xor_checksum((uint32_t*)&spi_data,14); //OK THIS LINE ISN'T SETTING THE CHECKSUM B/C SETTINNG IT TO 10 DID  NOTHIGN
+    // UPDATE CHECKSUM
+    spi_data.checksum = xor_checksum((uint32_t*)&spi_data, 30); 
     for(int i = 0; i < DATA_LEN; i++){
         tx_buff[i] = ((uint16_t*)(&spi_data))[i];}