Mercurial > tote-had

changeset 4:d279d961c91b

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Fix the i2c controller
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Fri, 11 Mar 2016 13:05:41 +0100
parents f8bffeb4f945
children 60ccacc24cab
files controller/i2c.ino
diffstat 1 files changed, 5 insertions(+), 7 deletions(-) [+]
line wrap: on
line diff
--- a/controller/i2c.ino	Thu Mar 10 23:08:15 2016 +0100
+++ b/controller/i2c.ino	Fri Mar 11 13:05:41 2016 +0100
@@ -4,6 +4,7 @@
 
 const int SLAVE_ADDRESS = 0x09;
 const int MAX_REGS = 16;
+
 volatile int8_t regs[MAX_REGS] = {};
 volatile uint8_t address;
 
@@ -15,21 +16,18 @@
 
 void receive(int bytes) {
     address = Wire.read();
-    while (Wire.available()) {
+    while (Wire.available() && address < MAX_REGS) {
         regs[address] = Wire.read();
         ++address;
-        if (address >= MAX_REGS) {
-            return;
-        }
     }
 }
 
 void i2c_loop() {
     for (int leg = 0; leg < 3; ++leg) {
         if (regs[leg * 4]) {
-            move_leg(leg, regs[leg * 4 + 1],
-                          regs[leg * 4 + 2],
-                          regs[leg * 4 + 3]);
+            move_leg(leg, regs[leg * 4 + 1] + HOME,
+                          regs[leg * 4 + 2] + HOME ,
+                          regs[leg * 4 + 3] - TIBIA);
             regs[leg * 4] = 0;
         }
     }