Diff: main.cpp

Revision:

2:35ef0b31a857

Parent:

1:fbdfdb9ecbd2

Child:

3:ab0d9d3ae4d4

--- a/main.cpp	Fri Oct 30 19:24:27 2020 +0000
+++ b/main.cpp	Fri Oct 30 21:03:24 2020 +0000
@@ -8,7 +8,10 @@
 
 //DRV2605 haptics(p9, p10);
 
-
+I2C i2c1(p9, p10);
+I2C i2c2(p28, p27);
+DRV2605 hap1(&i2c1);
+DRV2605 hap2(&i2c2);
  
  
 Timeout cycle;
@@ -19,25 +22,36 @@
 //two calls to this interrupt routine generates a square wave
 void toggle_interrupt()
 {
-    if (half_cycle_time>22000) haptics.play_waveform(0);
+    if (distance > 10) {
+        hap1.setWaveform(0);
+        hap1.playRtp(10);
+        } else if (distance > 50) {
+            hap1.seWaveform(0);
+            hap1.playRtp(50);
+        }
+    
+    /*if (half_cycle_time>22000) haptics.play_waveform(0);
     else {
         static int e1 = 1;
         haptics.play_waveform(e1);
             e1+=10; 
             if(e1 > 121) e1 = 1;
         }
-    led = !led;
+    led = !led;*/
     
     cycle.detach();
     //update time for interrupt activation -change frequency of square wave
     cycle.attach_us(&toggle_interrupt, half_cycle_time);
 }
+
+/*
 void newdist(int distance)
 {
     //update frequency based on new sonar data
     led2 = !led2;
     half_cycle_time = distance<<3;
 }
+*/
 //HC-SR04 Sonar module
  ultrasonic mu(p7, p8, .07, 1, &newdist);  
 //Set the trigger pin to p6 and the echo pin to p7