Raharja Agie
Read IMU data at Serial port (p28, p27), data rate <100Hz @115200bps Read 5 channels PPM signal at p11 using InterruptIn Send data via RF Modem at serial port (p13, p14) in 36Hz @115200 Drive i2C motor speed controller at I2C port (p9, p10) in every 10mS (control loop delay time)
i2C.h@0:7ccd56e1c3b1, 2010-08-11 (annotated)
- Committer:
- agiembed
- Date:
- Wed Aug 11 01:23:42 2010 +0000
- Revision:
- 0:7ccd56e1c3b1
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| agiembed | 0:7ccd56e1c3b1 | 1 | I2C i2c(p9, p10); //sda, scl |
| agiembed | 0:7ccd56e1c3b1 | 2 | |
| agiembed | 0:7ccd56e1c3b1 | 3 | const int addr = 0x50; // define the I2C Address |
| agiembed | 0:7ccd56e1c3b1 | 4 | char bl_F[2], bl_B[2], bl_L[2], bl_R[2]; |
| agiembed | 0:7ccd56e1c3b1 | 5 | |
| agiembed | 0:7ccd56e1c3b1 | 6 | void eyetosee(){ |
| agiembed | 0:7ccd56e1c3b1 | 7 | |
| agiembed | 0:7ccd56e1c3b1 | 8 | bl_F[1]= 0; |
| agiembed | 0:7ccd56e1c3b1 | 9 | bl_B[1]= 0; |
| agiembed | 0:7ccd56e1c3b1 | 10 | bl_R[1]= 0; |
| agiembed | 0:7ccd56e1c3b1 | 11 | bl_L[1]= 9; |
| agiembed | 0:7ccd56e1c3b1 | 12 | |
| agiembed | 0:7ccd56e1c3b1 | 13 | i2c.write(addr+2, bl_L, 2); // Send command string to Motor Left |
| agiembed | 0:7ccd56e1c3b1 | 14 | i2c.write(addr+4, bl_B, 2); // Send command string to Motor Back |
| agiembed | 0:7ccd56e1c3b1 | 15 | i2c.write(addr+6, bl_F, 2); // Send command string to Motor Front |
| agiembed | 0:7ccd56e1c3b1 | 16 | i2c.write(addr+8, bl_R, 2); // Send command string to Motor Right |
| agiembed | 0:7ccd56e1c3b1 | 17 | |
| agiembed | 0:7ccd56e1c3b1 | 18 | } |