BertlPractise
Fork of Bertl by
Diff: ur_Bertl.cpp
- Revision:
- 3:01b183fe8b41
- Parent:
- 2:1cd559ff516b
- Child:
- 4:76acfddc26fb
diff -r 1cd559ff516b -r 01b183fe8b41 ur_Bertl.cpp --- a/ur_Bertl.cpp Thu Mar 26 12:39:40 2015 +0000 +++ b/ur_Bertl.cpp Thu Mar 26 13:06:00 2015 +0000 @@ -15,6 +15,10 @@ ur_Bertl::ur_Bertl() : _interrupt(P1_12) // left sensor P1_13 { i2c.frequency(40000); // I2C Frequenz 40kHz + char init1[2] = {0x6, 0x00}; + char init2[2] = {0x7, 0xff}; + i2c.write(0x40, init1, 2); + i2c.write(0x40, init2, 2); mg1 = mg2 = SPEED; _interrupt.rise(this, &ur_Bertl::increment); // attach increment function of this counter instance ie. motor sensor _count = 0; @@ -24,6 +28,10 @@ ur_Bertl::ur_Bertl(PinName pin) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter { i2c.frequency(40000); // I2C Frequenz 40kHz + char init1[2] = {0x6, 0x00}; + char init2[2] = {0x7, 0xff}; + i2c.write(0x40, init1, 2); + i2c.write(0x40, init2, 2); mg1 = mg2 = SPEED; _interrupt.rise(this, &ur_Bertl::increment); // attach increment function of this counter instance ie. motor sensor _count = 0; @@ -39,7 +47,7 @@ MotorR_FORWARD = MotorL_FORWARD = 1; // both motor forward ON #ifdef TIME wait_ms(MOVE); -#else +#else while(_count < count+DISTANCE) { //if(!FrontIsClear()) // more convenient because there are no accidents :-)