Adrien Aflalo / m3pi_pops Featured

Library for the m3pi robot. This works with a Pololu 3pi robot with the Serial Slave firmware, and exposes and API. Added a read sensors function

Dependents:   pololu_mpi3_V2 pololu_mpi3

Fork of m3pi by Chris Styles

REZO

Diff: m3pi.cpp

Revision:
9:b256a26ca39c
Parent:
7:9b128cebb3c2
Child:
10:b84673574e1a
--- a/m3pi.cpp	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.cpp	Sun Nov 22 02:05:03 2015 +0000
@@ -195,6 +195,22 @@
 }
 
 
+void m3pi::readsensor (int *sensor){
+   
+   _ser.putc(SEND_CALIBRATED_SENSOR_VALUES);  
+    sensor[0] = _ser.getc();
+    sensor[0] += _ser.getc() << 8;
+    sensor[1] = _ser.getc();
+    sensor[1] += _ser.getc() << 8;
+    sensor[2] = _ser.getc();
+    sensor[2] += _ser.getc() << 8;
+    sensor[3] = _ser.getc();
+    sensor[3] += _ser.getc() << 8;
+    sensor[4] = _ser.getc();
+    sensor[4] += _ser.getc() << 8;
+  
+    return;
+}