Diff: actuators.cpp

Revision:

86:a5f48ae7096e

Parent:

85:03dc24043236

Child:

87:7cc7d4d68ef7

--- a/actuators.cpp	Tue Oct 20 15:28:11 2015 +0200
+++ b/actuators.cpp	Tue Oct 20 15:43:54 2015 +0200
@@ -90,6 +90,9 @@
     
     // start the timer
     t.start();
+    motorsEnable = true;
+    calibrateMotors(); // start calibration procedure
+    motorsEnable = false;
 }
 
 
@@ -176,7 +179,7 @@
             if(safetyIn.read() !=1){ // check if arm reached safety position
                 calibrating1 = false; // done 
                 motor1SetSpeed = 0; // brake motor
-                encoder1.setValue(0); // set motor 1 cal angle
+                encoder1.setPosition(0); // set motor 1 cal angle
             }
         }
         if (calibrating1){
@@ -184,7 +187,7 @@
             if(safetyIn.read() !=1){ // check if arm reached safety position
                 calibrating2 = false; // done 
                 motor2SetSpeed = 0; // brake motor
-                encoder2.setValue(0); // set motor 2 cal angle
+                encoder2.setPosition(0); // set motor 2 cal angle
             }
         }
         wait(0.2f);