Shih-Ho Hsieh / Mbed 2 deprecated Motor_XYZ_UI_SPI_I2C_5mag

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Dependencies:   mbed

Diff: ui.cpp

Branch:
envelope
Revision:
14:9672e91010a3
Parent:
13:6850d2b41b2c
Child:
15:5dd07840023c
--- a/ui.cpp	Fri Mar 02 08:53:17 2018 +0000
+++ b/ui.cpp	Tue Mar 06 08:35:40 2018 +0000
@@ -111,10 +111,6 @@
                     pattern.x = pattern.xStart;
                     pattern.y = pattern.yStart;
                     pattern.z += pattern.zStep;
-                    platform.to(0,0,0);
-                    platform.set_speed(1);
-                    platform.reset();
-                    platform.set_speed(2.5);
                 }
                 else{
                     pattern.state = NONE;
@@ -131,7 +127,7 @@
             {
                 if(pattern.count-- <= 0) pattern.state = TO;
                 getMag++;
-//                wait(0.01);
+                wait(waitTime);
             }
         }
         if(isEcho)
@@ -247,7 +243,8 @@
                     }
                     else if(dataArray[1] == 'N')
                     {
-                        pattern.num = (int)dataArray[2];
+                        pattern.num = (int)((dataArray[2]<<8)+dataArray[3]);
+                        waitTime = 1.0/Fs-0.00052-1/(BAUD/8/10);
                     }
                     else if(dataArray[1] == 'M')
                     {