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Dependents: bertl_led bertl_led bertl_led bertl_led ... more
Fork of
Bertl
by 
Bertl_Team_PE
Revision 3:01b183fe8b41, committed 2015-03-26
- Comitter:
- bulmecisco
- Date:
- Thu Mar 26 13:06:00 2015 +0000
- Parent:
- 2:1cd559ff516b
- Child:
- 4:76acfddc26fb
- Commit message:
- I2C Updated for LED problems
Changed in this revision
| const.h | Show annotated file Show diff for this revision Revisions of this file |
| ur_Bertl.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/const.h Thu Mar 26 12:39:40 2015 +0000 +++ b/const.h Thu Mar 26 13:06:00 2015 +0000 @@ -8,7 +8,7 @@ */ #ifndef CONST_H #define CONST_H -//#define TIME +#define TIME const int MOVE=500; const int TURN=500;
--- a/ur_Bertl.cpp Thu Mar 26 12:39:40 2015 +0000
+++ b/ur_Bertl.cpp Thu Mar 26 13:06:00 2015 +0000
@@ -15,6 +15,10 @@
ur_Bertl::ur_Bertl() : _interrupt(P1_12) // left sensor P1_13
{
i2c.frequency(40000); // I2C Frequenz 40kHz
+ char init1[2] = {0x6, 0x00};
+ char init2[2] = {0x7, 0xff};
+ i2c.write(0x40, init1, 2);
+ i2c.write(0x40, init2, 2);
mg1 = mg2 = SPEED;
_interrupt.rise(this, &ur_Bertl::increment); // attach increment function of this counter instance ie. motor sensor
_count = 0;
@@ -24,6 +28,10 @@
ur_Bertl::ur_Bertl(PinName pin) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter
{
i2c.frequency(40000); // I2C Frequenz 40kHz
+ char init1[2] = {0x6, 0x00};
+ char init2[2] = {0x7, 0xff};
+ i2c.write(0x40, init1, 2);
+ i2c.write(0x40, init2, 2);
mg1 = mg2 = SPEED;
_interrupt.rise(this, &ur_Bertl::increment); // attach increment function of this counter instance ie. motor sensor
_count = 0;
@@ -39,7 +47,7 @@
MotorR_FORWARD = MotorL_FORWARD = 1; // both motor forward ON
#ifdef TIME
wait_ms(MOVE);
-#else
+#else
while(_count < count+DISTANCE) {
//if(!FrontIsClear()) // more convenient because there are no accidents :-)