You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
81 lines
1.6 KiB
81 lines
1.6 KiB
#include <SoftwareSerial.h>
|
|
#include <Wire.h>
|
|
#define RE 7
|
|
#define DE 8
|
|
|
|
#define RE2 2
|
|
#define DE2 3
|
|
|
|
const byte O1[] = {0x01 ,0x03 ,0x00 ,0x00 ,0x00 ,0x02 ,0xC4 ,0x0B};
|
|
const byte O2[] = {0x01 ,0x03 ,0x00 ,0x00 ,0x00 ,0x02 ,0xC4 ,0x0B};
|
|
|
|
byte values[20];
|
|
byte values2[20];
|
|
SoftwareSerial mod(10, 11); // RO / DI
|
|
SoftwareSerial mod2(5, 6); // RO / DI
|
|
|
|
void setup() {
|
|
Serial.begin(4800);
|
|
mod.begin(4800);
|
|
mod2.begin(4800);
|
|
pinMode(RE, OUTPUT);
|
|
pinMode(DE, OUTPUT);
|
|
pinMode(RE2, OUTPUT);
|
|
pinMode(DE2, OUTPUT);
|
|
}
|
|
|
|
void loop() {
|
|
int val1 = 0 ; // SPEED
|
|
int val2 = 0 ; // DIR
|
|
|
|
Calculate();
|
|
//val1 = ((values[5]*256)+values[6]);
|
|
val1 = values[4];
|
|
Serial.print("speed: ");
|
|
Serial.println(val1);
|
|
|
|
delay(1000);
|
|
|
|
Calculate2();
|
|
val2 = values2[4];
|
|
Serial.print("dir: ");
|
|
Serial.println(val2);
|
|
|
|
delay(1000);
|
|
}
|
|
|
|
byte Calculate() {
|
|
digitalWrite(DE, HIGH);
|
|
digitalWrite(RE, HIGH);
|
|
delay(10);
|
|
if (mod.write(O1, sizeof(O1)) == 8) {
|
|
digitalWrite(DE, LOW);
|
|
digitalWrite(RE, LOW);
|
|
for (byte i = 0; i < 11; i++) {
|
|
//Serial.print(mod.read(),HEX);
|
|
values[i] = mod.read();
|
|
Serial.print(values[i]);
|
|
Serial.print(" ");
|
|
}
|
|
}
|
|
Serial.println(" ");
|
|
}
|
|
|
|
|
|
byte Calculate2() {
|
|
digitalWrite(DE2, HIGH);
|
|
digitalWrite(RE2, HIGH);
|
|
delay(10);
|
|
if (mod2.write(O2, sizeof(O2)) == 8) {
|
|
digitalWrite(DE2, LOW);
|
|
digitalWrite(RE2, LOW);
|
|
for (byte i = 0; i < 11; i++) {
|
|
//Serial.print(mod2.read(),HEX);
|
|
values2[i] = mod2.read();
|
|
//Serial.print(values2[i]);
|
|
//Serial.print(" ");
|
|
}
|
|
}
|
|
Serial.println(" ");
|
|
}
|
|
|