Diff: main.cpp

Revision:

110:a6d1d3525014

Parent:

109:4ee7ffc8f175

Child:

111:f11575e7c79b

--- a/main.cpp	Tue Apr 05 13:34:51 2022 +0000
+++ b/main.cpp	Thu Apr 07 12:13:04 2022 +0000
@@ -5,9 +5,6 @@
 
 #include "mbed.h"
 #include "platform/mbed_thread.h"
-#include <string.h>
-#include <stdio.h>
-#include <stdlib.h>
 #include <SPISlave.h>
 #include "protocol.h"
 
@@ -54,16 +51,13 @@
     device.format(8);
     
     while (true) {
-        if (device.receive())
+        if(device.receive())
         {
-            decodeMessage((char)device.read());
+            //decodeMessage((char)device.read());
         }
-        if (isDataAvailable())
+        if(isDataAvailable())
         {
-            uint32_t pwms[2];
-            getVerifiedPWMValues(pwms);
-            pulsewidth_propulsion = pwms[0];
-            pulsewidth_direction = pwms[1];
+            getVerifiedPWMValues(&pulsewidth_propulsion, &pulsewidth_direction);
             propulsion.pulsewidth_us(pulsewidth_propulsion);
             direction.pulsewidth_us(pulsewidth_direction);
         }