Diff: actuators.cpp

Revision:

87:7cc7d4d68ef7

Parent:

86:a5f48ae7096e

Child:

88:dd198c58f053

--- a/actuators.cpp	Tue Oct 20 15:43:54 2015 +0200
+++ b/actuators.cpp	Tue Oct 20 15:55:22 2015 +0200
@@ -90,9 +90,7 @@
     
     // start the timer
     t.start();
-    motorsEnable = true;
     calibrateMotors(); // start calibration procedure
-    motorsEnable = false;
 }
 
 
@@ -180,6 +178,7 @@
                 calibrating1 = false; // done 
                 motor1SetSpeed = 0; // brake motor
                 encoder1.setPosition(0); // set motor 1 cal angle
+                // move away
             }
         }
         if (calibrating1){
@@ -188,8 +187,10 @@
                 calibrating2 = false; // done 
                 motor2SetSpeed = 0; // brake motor
                 encoder2.setPosition(0); // set motor 2 cal angle
+                // move away
             }
         }
+        writeMotors();
         wait(0.2f);
     }
     safetyOn = true; // turn safety on after callibration