Patrick Wensing
/
Cheetah3Passthrough
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Fork of
Cheetah3Passthrough
by 
Ben Katz
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 |
--- 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) {