Birdy YAP / Encoder_dspic33f

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Dependents:   Tutorial04_dspic33fI2cCom Tutorial06_motorPositionControl

Diff: Encoder_dspic33f.cpp

Revision:
1:a9290cf59d1f
Parent:
0:fd0a80fd3738
Child:
2:57634dc24946
--- a/Encoder_dspic33f.cpp	Wed Dec 12 04:38:12 2012 +0000
+++ b/Encoder_dspic33f.cpp	Sat Jun 08 03:55:09 2013 +0000
@@ -1,6 +1,6 @@
 #include "Encoder_dspic33f.h"
 
- Encoder_dspic33f::Encoder_dspic33f(PinName sda, PinName scl,int16_t resolution, int address, bool invert) : 
+Encoder_dspic33f::Encoder_dspic33f(PinName sda, PinName scl,int16_t resolution, int address, bool invert) : 
     i2c_(sda,scl),    
     address_ (address),
     resolution_ (resolution){
@@ -29,13 +29,14 @@
     i2c_.write( (address_<< 1)  & 0xFE, dat, 3);
 }
 
-vector<float> Encoder_dspic33f::read(void){
+void Encoder_dspic33f::read(double * inarr){
     char rx[8];   
-    vector<float> data(2, 0.0);
+    float data[2] = {0.0, 0.0};
        
     i2c_.read((address_<< 1) | 0x01, rx, 8);
     MakeDWord(data[0],rx[3],rx[2],rx[1],rx[0]);
     MakeDWord(data[1],rx[7],rx[6],rx[5],rx[4]);
     
-    return data;
+    inarr[0] = (double)data[0];
+    inarr[1] = (double)data[1];
 }