Samir Bouaziz / m3pi

function correction on motor control adding get individual sensor function

Dependents:   m3PI_TP_POPS_II2015v0 m3PI_TP_POPS_II2015v0 ourproject m3PI_TP_SETI ... more

Fork of m3pi by Chris Styles

Diff: m3pi.cpp

Revision:
9:f65c5aa1775c
Parent:
7:9b128cebb3c2
diff -r 4b7d6ea9b35b -r f65c5aa1775c m3pi.cpp
--- a/m3pi.cpp	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.cpp	Mon Nov 23 23:22:28 2015 +0000
@@ -43,11 +43,11 @@
 }
 
 void m3pi::left_motor (float speed) {
-    motor(0,speed);
+    motor(1,speed);
 }
 
 void m3pi::right_motor (float speed) {
-    motor(1,speed);
+    motor(0,speed);
 }
 
 void m3pi::forward (float speed) {
@@ -112,6 +112,15 @@
     return(fpos);
 }
 
+void m3pi::calibrated_sensors(unsigned short ltab[5]) {
+    unsigned i;
+    _ser.putc(SEND_CALIB_SENSOR_VALUES);
+    for(i=0;i<5;i++){
+        ltab[i] = (unsigned short) _ser.getc();
+        ltab[i] += _ser.getc() << 8;
+    }
+}
+
 char m3pi::sensor_auto_calibrate() {
     _ser.putc(AUTO_CALIBRATE);
     return(_ser.getc());