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md25.pde
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md25.pde
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#include <Wire.h>
#define MD25 0x58
#define MOTOR1 0
#define MOTOR2 1
#define BATTV 10
#define SWVER 13
#define MODE 15
int ret;
void getMD25Version() {
Serial.print("Requesting ver. First trans: ");
Wire.beginTransmission(MD25);
Wire.send(SWVER);
ret = Wire.endTransmission();
Serial.print(ret, DEC);
Wire.requestFrom(MD25, 1);
int ver= Wire.receive();
Serial.print("Got version :");
Serial.println(ver, DEC);
}
void getMD25BattV() {
Wire.beginTransmission(MD25);
Wire.send(BATTV);
ret = Wire.endTransmission();
Wire.requestFrom(MD25, 1);
Serial.print("Got battv :");
int volts = Wire.receive();
Serial.println(volts, DEC);
}
//Amount - signed, 7 bit.
void setMDSpeed(int amount)
{
Wire.beginTransmission(MD25);
Wire.send(MOTOR1);
Wire.send(128 - amount);
Wire.endTransmission();
Serial.print("Sent motor1 speed 128-");
Serial.println(amount, DEC);
}
void setMDTurn(int amount)
{
Wire.beginTransmission(MD25);
Wire.send(MOTOR2);
Wire.send(128 - amount);
Wire.endTransmission();
Serial.print("Sent TURN speed 128-");
Serial.println(amount, DEC);
}
void setup()
{
pinMode(13, OUTPUT);
delay(500);
// initialize serial communication:
Serial.begin(9600);
Wire.begin();//Join the i2c bus
getMD25Version();
getMD25BattV();
//Put the md25 into turn mode, with unsigned values.
Wire.beginTransmission(MD25);
Wire.send(MODE);
Wire.send(2);
Wire.endTransmission();
Serial.println("Sent mode 2");
setMDSpeed(40);
delay(2020);
setMDTurn(30);
delay(2020);
setMDSpeed(40);
delay(2020);
setMDTurn(-30);
}
void loop()
{
delay(100);
/* if (Serial.available() > 0) {
int val = Serial.read();
if(val == 0x0f) {
Wire.beginTransmission(MD25);
Wire.send(MOTOR1);
Wire.send(128 - 40);
Wire.endTransmission();
}
if(val == 0x0b) {
Wire.beginTransmission(MD25);
Wire.send(MOTOR1);
Wire.send(128 + 40);
Wire.endTransmission();
}
}*/
}