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72 lines
1.6 KiB
72 lines
1.6 KiB
#include <SoftwareSerial.h>
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#include <Wire.h>
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const int RE[] = {0,7,2};
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const int DE[] = {0,8,3};
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const byte codes[] = {0x01 ,0x03 ,0x00 ,0x00 ,0x00 ,0x02 ,0xC4 ,0x0B};
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byte values[3][20];
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SoftwareSerial mod1(10, 11); // RO / DI
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SoftwareSerial mod2(5, 6); // RO / DI
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void setup() {
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Serial.begin(4800);
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while(!Serial){;}
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mod1.begin(4800);
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delay(500);
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mod2.begin(4800);
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delay(500);
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pinMode(RE[1], OUTPUT);
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pinMode(DE[1], OUTPUT);
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pinMode(RE[2], OUTPUT);
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pinMode(DE[2], OUTPUT);
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}
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void loop() {
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int val1 = 0 ; // SPEED
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int val2 = 0 ; // DIR
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readSensor(1);
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//val1 = ((values[1][5]*256)+values[1][6]);
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val1 = values[1][4];
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Serial.print("speed: ");
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Serial.println(val1);
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delay(1000);
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readSensor(2);
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val2 = values[2][4];
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Serial.print("dir: ");
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Serial.println(val2);
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delay(1000);
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}
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byte readSensor(int sensor) {
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digitalWrite(DE[sensor], HIGH);
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digitalWrite(RE[sensor], HIGH);
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delay(10);
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if(sensor == 1) {
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if (mod1.write(codes, sizeof(codes)) == 8) {
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digitalWrite(DE[sensor], LOW);
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digitalWrite(RE[sensor], LOW);
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for (byte i = 0; i < 11; i++) {
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values[sensor][i] = mod1.read();
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Serial.print(values[sensor][i]);
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Serial.print(" ");
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}
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}
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} else if(sensor == 2) {
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if (mod2.write(codes, sizeof(codes)) == 8) {
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digitalWrite(DE[sensor], LOW);
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digitalWrite(RE[sensor], LOW);
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for (byte i = 0; i < 11; i++) {
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values[sensor][i] = mod2.read();
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Serial.print(values[sensor][i]);
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Serial.print(" ");
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}
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}
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}
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Serial.println(" ");
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}
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