added calls to listen() for better behavior with multiple instances

pololu · May 10, 2013 · 61f727a · 61f727a
1 parent b300ac6
commit 61f727a
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/PololuQik/PololuQik.cpp b/PololuQik/PololuQik.cpp
@@ -22,20 +22,23 @@ void PololuQik::init(long speed /* = 9600 */)
 
 char PololuQik::getFirmwareVersion()
 {
+  listen();
   write(QIK_GET_FIRMWARE_VERSION);
   while (available() < 1);
   return read();
 }
 
 byte PololuQik::getErrors()
 {
+  listen();
   write(QIK_GET_ERROR_BYTE);
   while (available() < 1);
   return read();
 }
 
 byte PololuQik::getConfigurationParameter(byte parameter)
 {
+  listen();
   cmd[0] = QIK_GET_CONFIGURATION_PARAMETER;
   cmd[1] = parameter;
   write(cmd, 2);
@@ -45,6 +48,7 @@ byte PololuQik::getConfigurationParameter(byte parameter)
 
 byte PololuQik::setConfigurationParameter(byte parameter, byte value)
 {
+  listen();
   cmd[0] = QIK_SET_CONFIGURATION_PARAMETER;
   cmd[1] = parameter;
   cmd[2] = value;
@@ -165,13 +169,15 @@ void PololuQik2s12v10::setBrakes(unsigned char m0Brake, unsigned char m1Brake)
 
 unsigned char PololuQik2s12v10::getM0Current()
 {
+  listen();
   write(QIK_2S12V10_GET_MOTOR_M0_CURRENT);
   while (available() < 1);
   return read();
 }
 
 unsigned char PololuQik2s12v10::getM1Current()
 {
+  listen();
   write(QIK_2S12V10_GET_MOTOR_M1_CURRENT);
   while (available() < 1);
   return read();
@@ -189,13 +195,15 @@ unsigned int PololuQik2s12v10::getM1CurrentMilliamps()
 
 unsigned char PololuQik2s12v10::getM0Speed()
 {
+  listen();
   write(QIK_2S12V10_GET_MOTOR_M0_SPEED);
   while (available() < 1);
   return read();
 }
 
 unsigned char PololuQik2s12v10::getM1Speed()
 {
+  listen();
   write(QIK_2S12V10_GET_MOTOR_M1_SPEED);
   while (available() < 1);
   return read();