sra-romi
Dependencies: BufferedSerial Matrix
Robot.cpp
- Committer:
- fabiofaria
- Date:
- 2019-04-11
- Revision:
- 1:dc87724abce8
- Child:
- 4:1defb279922a
File content as of revision 1:dc87724abce8:
#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])); }