Diff: RoboClaw.cpp

Revision:

13:6a4969d25627

Parent:

11:04d8899b5d82

--- a/RoboClaw.cpp	Wed Nov 06 10:57:21 2019 +0000
+++ b/RoboClaw.cpp	Tue Sep 14 12:09:42 2021 +0000
@@ -5,14 +5,14 @@
 #define SetDWORDval(arg) (uint8_t)(arg>>24),(uint8_t)(arg>>16),(uint8_t)(arg>>8),(uint8_t)arg
 #define SetWORDval(arg) (uint8_t)(arg>>8),(uint8_t)arg
 
-RoboClaw::RoboClaw(uint8_t adr, int baudrate, PinName rx, PinName tx) : _roboclaw(rx, tx){
+RoboClaw::RoboClaw(uint8_t adr, int baudrate, PinName rx, PinName tx, double _read_timeout) : _roboclaw(rx, tx){
     _roboclaw.set_baud(baudrate);//_roboclaw.baud(baudrate);
        
     rx_in = 0;
     address = adr;
-    readTime = 0.0;
-    readTimer.start();
-    read_timeout = 2.0;
+    //readTime = 0.0;
+    //readTimer.start();
+    read_timeout = _read_timeout;
     
 }
 
@@ -148,7 +148,7 @@
     }else{
         //printf("crc: %x \r\n", crc_get());
         //printf("received crc: %x \r\n", received_crc);
-        printf("err \r\n");
+        //printf("err \r\n");
 
 
         return false;