Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 87:eb5e918a6930
- Parent:
- 86:b059f637e9ac
--- a/main.cpp Sun Mar 12 08:54:19 2017 +0000 +++ b/main.cpp Sat Mar 25 01:58:33 2017 +0000 @@ -140,17 +140,21 @@ /*output to timers*/ switch (BREMS_mode) { case MODE_CFG: + io.en->write(0); set_dtc(io.a, 0.5f); set_dtc(io.b, 0.5f); set_dtc(io.c, 0.5f); break; case MODE_RUN: + io.en->write(1); set_dtc(io.a, 0.5f + 0.5f * va); set_dtc(io.b, 0.5f + 0.5f * vb); set_dtc(io.c, 0.5f + 0.5f * vc); break; case MODE_ZERO: - //zeroing code here; + set_dtc(io.a, 0.05f); + set_dtc(io.b, 0.95f); + set_dtc(io.c, 0.95f); break; case MODE_CHR: //i have no idea lol;