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
00001 I2C i2c(p9, p10); //sda, scl 00002 00003 const int addr = 0x50; // define the I2C Address 00004 char bl_F[2], bl_B[2], bl_L[2], bl_R[2]; 00005 00006 void eyetosee(){ 00007 00008 bl_F[1]= 0; 00009 bl_B[1]= 0; 00010 bl_R[1]= 0; 00011 bl_L[1]= 9; 00012 00013 i2c.write(addr+2, bl_L, 2); // Send command string to Motor Left 00014 i2c.write(addr+4, bl_B, 2); // Send command string to Motor Back 00015 i2c.write(addr+6, bl_F, 2); // Send command string to Motor Front 00016 i2c.write(addr+8, bl_R, 2); // Send command string to Motor Right 00017 00018 }
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