Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
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