ulysse
/
Robot_Principal_2024-2025
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Consequences of changing i2c_master

This commit is contained in:
Ulysse Cura 2025-05-07 20:36:14 +02:00
parent 906e2cce12
commit ece650ee9f
1 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
main controller code/src/motors.c
View File

@ -22,19 +22,19 @@ void i2c_set_motor_speed(motors_enum_t motor, int8_t value)
const motor_def_t *motor_def = &MOTORS_DEFS[motor];
uint8_t x = *(uint8_t *)&value;
uint8_t data[2] = {motor_def->buffer_address, x};
uint8_t data[] = {motor_def->buffer_address, x};
i2c_master_send(I2C_MOTION_CONTROLLER_ADDRESS, data, 2);
i2c_master_write(I2C_MOTION_CONTROLLER_ADDRESS, data, 2);
}
int8_t i2c_get_motor_speed(motors_enum_t motor)
{
const motor_def_t *motor_def = &MOTORS_DEFS[motor];
uint8_t data[1] = {motor_def->buffer_address};
uint8_t reg = motor_def->buffer_address; // Register of the i2c_buffer to read
uint8_t data;
i2c_master_read_reg(I2C_MOTION_CONTROLLER_ADDRESS, reg, &data, 1);
i2c_master_send_receive(I2C_MOTION_CONTROLLER_ADDRESS, data, 1);
int8_t value = *(int8_t *)data;
int8_t value = *(int8_t *)&data;
return value;
}