Patrick Wensing
/
Cheetah3Passthrough
passthrough w updated timing
Fork of Cheetah3Passthrough by
Diff: main.cpp
- Revision:
- 1:542050a917de
- Parent:
- 0:58d3ade33116
--- a/main.cpp Mon Dec 19 19:55:51 2016 +0000 +++ b/main.cpp Tue Dec 27 00:33:53 2016 +0000 @@ -7,6 +7,12 @@ SPISlave spi(PA_7, PA_6, PA_5, PA_4); +void flush() +{ + while(motorDriver.readable()){ + int byte = motorDriver.getc(); + } +} @@ -123,15 +129,21 @@ spi.reply(0x0); + motorDriver.baud(1000000); motorDriver.attach(&echo); motorDriver.format(8, Serial::None, 2); - wait(.1); + wait(.4); + motorDriver.putc(0x80); + wait(.2); motorDriver.putc(0x80); - wait(.1); - motorDriver.putc(0x6d); - - + wait(.2); + motorDriver.putc('p'); + wait(.2); + motorDriver.putc('m'); + wait(.2); + motorDriver.putc(0x40); + motorDriver.putc(0x00); while(1) {