Diff: LinearActuator/LinearActuator.cpp

Revision:

12:a0519d11d2b6

Parent:

11:3b241ecb75ed

Child:

13:84fcbe1dcd62

--- a/LinearActuator/LinearActuator.cpp	Fri Oct 27 00:37:32 2017 +0000
+++ b/LinearActuator/LinearActuator.cpp	Mon Oct 30 19:46:38 2017 +0000
@@ -124,6 +124,7 @@
 void LinearActuator::stop() {
     _motor.stop();
     _pulse.detach();
+    _init = true;
 }
  
 void LinearActuator::pause() {
@@ -262,10 +263,10 @@
     start();
     pause();
     
-//    //trap program execution here until the filter is converged
-//    while(_init){
-//        //just wait here until the things calm down   
-//    }
+    //trap program execution here until the filter is converged
+    while(_init){
+        //just wait here until the things calm down   
+    }
     
     //Now that the readings are stabilized
     // This sends the motor on a kamakaze mission toward the limit switch
@@ -285,8 +286,6 @@
                 
                 // This can be used for troubleshooting
                 pc().printf("\n\rzero_counts: %4i     \n\r" , _zeroCounts);
-                //stop the update loop
-                stop();
                 return;
             }
         }