Diff: actuators.cpp

Revision:

97:0f67952051e5

Parent:

93:a8898eb80edc

--- a/actuators.cpp	Wed Oct 21 13:16:24 2015 +0200
+++ b/actuators.cpp	Wed Oct 21 13:50:38 2015 +0200
@@ -47,13 +47,12 @@
     double timechange;
     bool pidOut = 0;
 
-    // for Calibration:
+    // calibration
     bool calibrating1 = true;
     bool calibrating2 = false;
     double motorCalSpeed = 10; // deg/sec
     double returnSpeed = -10;
     bool springHit = false;
-    float lastCall = 0;
 
 
     // Create object instances
@@ -211,12 +210,9 @@
                }
            }
        }
-       now = t.read(); // call motor using timer instead of wait
-       if(now - lastCall > motorCall){
-           writeMotors();
-           lastCall = now;
-       }
-
+       writeMotors();
+       wait(motorCall);
+       
    }
     safetyOn = true; // turn safety on after callibration
 }