Diff: Robot.cpp

Revision:

1:dc87724abce8

Child:

4:1defb279922a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robot.cpp	Thu Apr 11 09:51:28 2019 +0000
@@ -0,0 +1,63 @@
+#include "Robot.h"
+#include "mbed.h"
+
+I2C i2c(I2C_SDA, I2C_SCL );
+const int addr8bit = 20 << 1; // 7bit I2C address is 20; 8bit I2C address is 40 (decimal).
+
+int16_t countsLeft = 0;
+int16_t countsRight = 0;
+
+void setSpeeds(int16_t leftSpeed, int16_t rightSpeed)
+{
+    char buffer[5];
+    
+    buffer[0] = 0xA1;
+    memcpy(&buffer[1], &leftSpeed, sizeof(leftSpeed));
+    memcpy(&buffer[3], &rightSpeed, sizeof(rightSpeed));
+
+    i2c.write(addr8bit, buffer, 5); // 5 bytes
+}
+
+void setLeftSpeed(int16_t speed)
+{
+    char buffer[3];
+    
+    buffer[0] = 0xA2;
+    memcpy(&buffer[1], &speed, sizeof(speed));
+
+    i2c.write(addr8bit, buffer, 3); // 3 bytes
+}
+
+void setRightSpeed(int16_t speed)
+{
+    char buffer[3];
+    
+    buffer[0] = 0xA3;
+    memcpy(&buffer[1], &speed, sizeof(speed));
+
+    i2c.write(addr8bit, buffer, 3); // 3 bytes
+}
+
+void getCounts()
+{
+    char write_buffer[2];
+    char read_buffer[4];
+    
+    write_buffer[0] = 0xA0;
+    i2c.write(addr8bit, write_buffer, 1); wait_us(100);
+    i2c.read( addr8bit, read_buffer, 4);
+    countsLeft = (int16_t((read_buffer[0]<<8)|read_buffer[1]));
+    countsRight = (int16_t((read_buffer[2]<<8)|read_buffer[3]));
+}
+
+void getCountsAndReset()
+{
+    char write_buffer[2];
+    char read_buffer[4];
+    
+    write_buffer[0] = 0xA4;
+    i2c.write(addr8bit, write_buffer, 1); wait_us(100);
+    i2c.read( addr8bit, read_buffer, 4);
+    countsLeft = (int16_t((read_buffer[0]<<8)|read_buffer[1]));
+    countsRight = (int16_t((read_buffer[2]<<8)|read_buffer[3]));
+}
\ No newline at end of file