Arvid Keemink / Mbed 2 deprecated BMHaptics1

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Dependencies:   FastPWM MODSERIAL mbed QEI

Diff: main.cpp

Revision:
2:306998d368fc
Parent:
1:08d285e33eea
Child:
3:5cb5f0f22c5a
--- a/main.cpp	Mon Jun 11 07:47:13 2018 +0000
+++ b/main.cpp	Mon Jun 11 07:54:25 2018 +0000
@@ -264,7 +264,10 @@
     //State Guard
     if ((abs(motorVel) < 0.001f) && (t.read()-stateTime > 1.0f)) {
         currentState = stateHoming;
-        encoderPos = MAX_ENCODER_POS_LEFT; //When calibrated, set encoder pos to the known value
+        enc.reset(); // set pulses to zero
+        
+        // NEED TO UPDATE CALIBRATION HERE.
+        //encoderPos = -MAX_ENCODER_POS_LEFT; //When calibrated, set encoder pos to the known value
         stateTime = t.read();
         refPos = (float)MAX_ENCODER_POS_LEFT /  ENCODER_CPR * TWO_PI; //Start at the left calibration point
     }