Diff: m3pi.cpp

Revision:

1:5523d6d1feec

Parent:

0:56320ef879a6

Child:

2:26bf14f4dc84

--- a/m3pi.cpp	Tue Apr 04 08:08:16 2017 +0000
+++ b/m3pi.cpp	Wed Apr 05 10:25:42 2017 +0000
@@ -48,27 +48,35 @@
 
 void m3pi::get_raw_values(unsigned int *values)
 {
-    _serial->putc(0x86);
+    char vals[10];                     // array to receive 10 byte return message
+    _serial->putc(0x86);                // send command
 
-    for (int i=0; i<5; i++) {
-        char lsb = _serial->getc();
-        char msb = _serial->getc();
-        unsigned int value = (msb<<8 | lsb);
-        values[i]=value;
+    int n=0;
+    while ( _serial->readable() ) {     // keep looping while data on rx line
+        vals[n] = _serial->getc();      // read into array
+        n++;                            // increment index
+    }
+
+    for(int i=0; i<5; i++) {            // construct the 2-byte values
+        values[i] = (vals[2*i+1] << 8) | vals[2*i];
     }
 }
 
 void m3pi::get_calibrated_values(unsigned int *values)
 {
-    _serial->putc(0x87);
+    char vals[10];                      // array to receive 10 byte return message
+    _serial->putc(0x87);                // send command
 
-    for (int i=0; i<5; i++) {
-        char lsb = _serial->getc();
-        char msb = _serial->getc();
-        unsigned int value = (msb<<8 | lsb);
-        values[i]=value;
+    int n=0;
+    while ( _serial->readable() ) {     // keep looping while data on rx line
+        vals[n] = _serial->getc();      // read into array
+        n++;                            // increment index
     }
 
+    for(int i=0; i<5; i++) {            // construct the 2-byte values
+        values[i] = (vals[2*i+1] << 8) | vals[2*i];
+    }
+    
 }
 
 float m3pi::get_trimpot_value()
@@ -135,7 +143,7 @@
     lcd_goto_xy(0,1);
     lcd_print("Sensors ",8);
 
-    spin_right(0.1);
+    spin_right(0.2);
 
     char led_val = 0;
     Timer timer;
@@ -149,7 +157,7 @@
         }
 
         _serial->putc(0xB4);
-        wait_ms(5);
+        wait_ms(25);
     }
 
     timer.stop();
@@ -159,9 +167,7 @@
 
     lcd_clear();
     lcd_goto_xy(0,0);
-    lcd_print("Place on",8);
-    lcd_goto_xy(0,1);
-    lcd_print("  line  ",8);
+    lcd_print("  Done  ",8);
 
     while( read_button() ) {
         // loop while waiting for button to be press