Revision 9:3fc886273b7a, committed 2015-07-05

Comitter:

scarcyon

Date:

Sun Jul 05 09:50:36 2015 +0000

Parent:

8:4b7d6ea9b35b

Commit message:

a

Changed in this revision

diff -r 4b7d6ea9b35b -r 3fc886273b7a m3pi.cpp
--- a/m3pi.cpp	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.cpp	Sun Jul 05 09:50:36 2015 +0000
@@ -24,6 +24,8 @@
 #include "mbed.h"
 #include "m3pi.h"
 
+#define SEND_CALIBRATED_SENSOR_VALUES 0x87
+
 m3pi::m3pi(PinName nrst, PinName tx, PinName rx) :  Stream("m3pi"), _nrst(nrst), _ser(tx, rx)  {
     _ser.baud(115200);
     reset();
@@ -194,6 +196,23 @@
     return(_ser.getc());
 }
 
+void m3pi::readsensor (int *sensor){
+   
+   _ser.putc(SEND_CALIBRATED_SENSOR_VALUES);  
+    sensor[0] = _ser.getc();
+    sensor[0] += _ser.getc() << 8;
+    sensor[1] = _ser.getc();
+    sensor[1] += _ser.getc() << 8;
+    sensor[2] = _ser.getc();
+    sensor[2] += _ser.getc() << 8;
+    sensor[3] = _ser.getc();
+    sensor[3] += _ser.getc() << 8;
+    sensor[4] = _ser.getc();
+    sensor[4] += _ser.getc() << 8;
+  
+    return;
+}
+
 
 
 

diff -r 4b7d6ea9b35b -r 3fc886273b7a m3pi.h
--- a/m3pi.h	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.h	Sun Jul 05 09:50:36 2015 +0000
@@ -216,6 +216,9 @@
      * @param text A pointer to a char array
      * @param int The character to send to the 3pi
      */
+     
+     void readsensor (int *sensor);
+     
     int print(char* text, int length);
 
 #ifdef MBED_RPC