Diff: main.cpp

Revision:

18:05e5d280a082

Parent:

17:80159ace5ddf

Child:

19:526fd700e1b3

diff -r 80159ace5ddf -r 05e5d280a082 main.cpp
--- a/main.cpp	Tue Mar 20 14:49:51 2018 +0000
+++ b/main.cpp	Tue Mar 20 15:00:09 2018 +0000
@@ -21,6 +21,7 @@
 
 #define CHAR_ARR_SIZE 18 //Max length of input codes
 #define MAX_PWM_PERIOD 2000
+#define MAX_TORQUE 1000
 
 //Mapping from sequential drive states to motor phase outputs
 /*
@@ -45,10 +46,10 @@
 const int8_t lead = 2;  //2 for forwards, -2 for backwards
 
 //Rotor offset at motor state 0
-int8_t orState = 0;
+volatile int8_t orState = 0;
 
 //Set initial torque of 1000
-uint32_t torque = 1000;
+volatile uint32_t torque = 1000;
 
 
 enum MSG {MSG_RESET, MSG_HASHCOUNT, MSG_NONCE_OK,
@@ -230,7 +231,7 @@
 //Basic synchronisation routine
 int8_t motorHome() {
     //Put the motor in drive state 0 and wait for it to stabilise
-    motorOut(0, MAX_PWM_PERIOD);
+    motorOut(0, MAX_TORQUE);
     wait(2.0);
 
     //Get the rotor state
@@ -269,6 +270,11 @@
     I2.fall(&photointerrupter_isr);
     I3.fall(&photointerrupter_isr);
 
+
+    L1L.period_us(MAX_PWM_PERIOD);
+    L2L.period_us(MAX_PWM_PERIOD);
+    L3L.period_us(MAX_PWM_PERIOD);
+
     //Calling the ISR once starts the motor movement
     photointerrupter_isr();