void SRF02::update()
{
if (interval == 0)
{
return;
}
if (rangingTriggered && millis() > nextRead)
{
for (SRF02 *i = first; i != 0; i = i->next)
{
Wire.beginTransmission(i->deviceId);
WIRE_WRITE(2);
Wire.endTransmission();
Wire.requestFrom(i->deviceId, (uint8_t) 2);
i->value = ((unsigned long) WIRE_READ()) << 8;
i->value += (unsigned long) WIRE_READ();
}
rangingTriggered = false;
}
if (millis() > nextRequest)
{
for (SRF02 *i = first; i != 0; i = i->next)
{
Wire.beginTransmission(i->deviceId);
WIRE_WRITE((uint8_t) 0);
WIRE_WRITE(i->mode);
Wire.endTransmission();
}
nextRead = millis() + READ_DURATION;
nextRequest = millis() + interval;
rangingTriggered = true;
}
}
unsigned int CMPS03::read ()
{
Wire.beginTransmission(deviceId);
WIRE_WRITE((uint8_t) 2);
Wire.endTransmission();
delay(1);
Wire.requestFrom(deviceId, (uint8_t) 2);
unsigned int value = ((unsigned int) WIRE_READ()) << 8;
value = value + ((unsigned int) WIRE_READ());
return value;
}