JJ Dekker / Mbed 2 deprecated Totaleprogramma1

The project is not done yet

Dependencies:   USBHost USBHostXpad mbed-rtos mbed

Fork of Totaleprogramma by jordy morsinkhof

ultrasoon.h@1:da390b3b1330, 2015-03-02 (annotated)

Committer:
juliandekker
Date:
Mon Mar 02 10:58:30 2015 +0000
Revision:
1:da390b3b1330
Parent:
0:345f76c72b9a 
xbox controller robot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
347467 0:345f76c72b9a 1 //#include "mbed.h"
347467 0:345f76c72b9a 2
347467 0:345f76c72b9a 3 I2C i2cMod(p28, p27);
347467 0:345f76c72b9a 4 //Serial PC(USBTX, USBRX); //Debug port to PC
347467 0:345f76c72b9a 5
347467 0:345f76c72b9a 6 int i2cAddress1 = 0xF2;
347467 0:345f76c72b9a 7 int i2cAddress2 = 0xE0;
347467 0:345f76c72b9a 8
347467 0:345f76c72b9a 9 void sendStartRangingCommand1(void){
347467 0:345f76c72b9a 10 const char command[] = {0x00, 0x51};
347467 0:345f76c72b9a 11 i2cMod.write(i2cAddress1, command, 2);
347467 0:345f76c72b9a 12 }
347467 0:345f76c72b9a 13 void sendStartRangingCommand2(void){
347467 0:345f76c72b9a 14 const char command[] = {0x00, 0x51};
347467 0:345f76c72b9a 15 i2cMod.write(i2cAddress2, command, 2);
347467 0:345f76c72b9a 16 }
347467 0:345f76c72b9a 17 /*
347467 0:345f76c72b9a 18 int readRange1(void){
347467 0:345f76c72b9a 19 const char command[] = {0x02}; //Address of range register
347467 0:345f76c72b9a 20 char response[] = {0x00, 0x00};
347467 0:345f76c72b9a 21 i2cMod.write(i2cAddress1, command, 1, 1); //Send command
347467 0:345f76c72b9a 22 i2cMod.read(i2cAddress1, response, 2); //Read 16bits result
347467 0:345f76c72b9a 23 int range = (response[0]<<8)+response[1]; //Shift two bytes into int
347467 0:345f76c72b9a 24 return range;
347467 0:345f76c72b9a 25 }
347467 0:345f76c72b9a 26
347467 0:345f76c72b9a 27 int readRange2(void){
347467 0:345f76c72b9a 28 const char command[] = {0x02}; //Address of range register
347467 0:345f76c72b9a 29 char response[] = {0x00, 0x00};
347467 0:345f76c72b9a 30 i2cMod.write(i2cAddress2, command, 1, 1); //Send command
347467 0:345f76c72b9a 31 i2cMod.read(i2cAddress2, response, 2); //Read 16bits result
347467 0:345f76c72b9a 32 int range = (response[0]<<8)+response[1]; //Shift two bytes into int
347467 0:345f76c72b9a 33 return range;
347467 0:345f76c72b9a 34 }
347467 0:345f76c72b9a 35
347467 0:345f76c72b9a 36 //void setAddress(int address) {
347467 0:345f76c72b9a 37 //Send address change sequence
347467 0:345f76c72b9a 38 // char command[] = {0x00, 0xA0};
347467 0:345f76c72b9a 39 // i2cMod.write(i2cAddress, command, 2);
347467 0:345f76c72b9a 40 // command[1] = 0xAA;
347467 0:345f76c72b9a 41 // i2cMod.write(i2cAddress, command, 2);
347467 0:345f76c72b9a 42 // command[1] = 0xA5;
347467 0:345f76c72b9a 43 // i2cMod.write(i2cAddress, command, 2);
347467 0:345f76c72b9a 44 // command[1] = address;
347467 0:345f76c72b9a 45 // i2cMod.write(i2cAddress, command, 2);
347467 0:345f76c72b9a 46 // }
347467 0:345f76c72b9a 47
347467 0:345f76c72b9a 48 //int main() {
347467 0:345f76c72b9a 49 // //Read software version
347467 0:345f76c72b9a 50 //const char command[] = {0x00}; //Address of swversion register
347467 0:345f76c72b9a 51 //char response[] = {0x00, 0x00};
347467 0:345f76c72b9a 52 //i2cMod.write(i2cAddress1, command, 1, 1); //Send command
347467 0:345f76c72b9a 53 //i2cMod.read(i2cAddress1, response, 2); //Read 16bits result
347467 0:345f76c72b9a 54 //int swversion = (response[0]<<8)+response[1]; //Shift two bytes into int
347467 0:345f76c72b9a 55 //PC.printf(" Software version1: %i", swversion);
347467 0:345f76c72b9a 56 //PC.printf("\n\r");
347467 0:345f76c72b9a 57
347467 0:345f76c72b9a 58 //Read software version
347467 0:345f76c72b9a 59 //const char command[] = {0x00}; //Address of swversion register
347467 0:345f76c72b9a 60 // char response[] = {0x00, 0x00};
347467 0:345f76c72b9a 61 // i2cMod.write(i2cAddress2, command, 1, 1); //Send command
347467 0:345f76c72b9a 62 // i2cMod.read(i2cAddress2, response, 2); //Read 16bits result
347467 0:345f76c72b9a 63 // int swversion = (response[0]<<8)+response[1]; //Shift two bytes into int
347467 0:345f76c72b9a 64 // PC.printf(" Software version2: %i", swversion);
347467 0:345f76c72b9a 65 // PC.printf("\n\r");
347467 0:345f76c72b9a 66
347467 0:345f76c72b9a 67
347467 0:345f76c72b9a 68 //setAddress(0xF2) ;
347467 0:345f76c72b9a 69
347467 0:345f76c72b9a 70 //while(true){
347467 0:345f76c72b9a 71 // sendStartRangingCommand1();
347467 0:345f76c72b9a 72 // wait(0.07);
347467 0:345f76c72b9a 73 // int range1 = readRange1();
347467 0:345f76c72b9a 74 // PC.printf(" Range1: %i", range1);
347467 0:345f76c72b9a 75 // PC.printf("\n\r");
347467 0:345f76c72b9a 76 // wait (0.2);
347467 0:345f76c72b9a 77
347467 0:345f76c72b9a 78 // sendStartRangingCommand2();
347467 0:345f76c72b9a 79 // wait(0.07);
347467 0:345f76c72b9a 80 // int range2 = readRange2();
347467 0:345f76c72b9a 81 // PC.printf(" Range2: %i", range2);
347467 0:345f76c72b9a 82 // PC.printf("\n\r");
347467 0:345f76c72b9a 83 // wait(1.0);
347467 0:345f76c72b9a 84 //}
347467 0:345f76c72b9a 85 //}