Patrick Wensing / Mbed 2 deprecated Cheetah3Passthrough

passthrough w updated timing

Dependencies:   mbed

Fork of Cheetah3Passthrough by Ben Katz

Files at this revision

API Documentation at this revision

Revision 1:542050a917de, committed 2016-12-27

Comitter:
pwensing
Date:
Tue Dec 27 00:33:53 2016 +0000
Parent:
0:58d3ade33116
Commit message:
updated timing;

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 58d3ade33116 -r 542050a917de main.cpp
--- 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) {