Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

Diff: MotorDriver.cpp

Revision:
31:d65576185bdf
Parent:
18:f51b1a94a6e2
Child:
32:d37447aec6b4
--- a/MotorDriver.cpp	Thu Apr 23 12:13:28 2015 +0000
+++ b/MotorDriver.cpp	Tue Apr 28 09:08:03 2015 +0000
@@ -19,7 +19,7 @@
     const float Vr = 1.285; // internal reference voltage
 
     if (stop) {
-        write_reg(0x00, 0x03); // last 2 bits = 11 = "brake"
+        write_reg(0x00, 0x00); // last 2 bits = 11 = "brake", last 2 bits = 00 = "coast"
     } else {
         const uint8_t DAC_val = ceil( (16.0 * fabs(voltage) / Vr) - 1.0 ); // derived from table on DRV8830 datasheet page 10
         const uint8_t direction = (voltage > 0.0) ? 0x01 : 0x02; // forward or reverse is set through last 2 bits