Ben Katz / HKC_MiniCheetah

Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol

Dependencies:   mbed-dev-f303 FastPWM3

Superseded by: https://github.com/bgkatz/motorcontrol

Diff: PositionSensor/PositionSensor.cpp

Revision:
20:bf9ea5125d52
Parent:
14:80ce59119d93
Child:
22:60276ba87ac6
--- a/PositionSensor/PositionSensor.cpp	Tue Feb 14 03:28:16 2017 +0000
+++ b/PositionSensor/PositionSensor.cpp	Thu Mar 02 15:31:23 2017 +0000
@@ -66,7 +66,7 @@
     rotations = 0;
     spi = new SPI(PC_12, PC_11, PC_10);
     spi->format(16, 1);
-    spi->frequency(10000000);
+    spi->frequency(5000000);
     cs = new DigitalOut(PA_15);
     cs->write(1);
     readAngleCmd = 0xffff;
@@ -118,6 +118,8 @@
     MechOffset = GetMechPosition();
     }
     
+    
+    
 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
     _ppairs = ppairs;
     _CPR = CPR;