Diff: hardware.cpp

Revision:

7:6b15a1feed2d

Parent:

5:3638d7e7c5c1

--- a/hardware.cpp	Fri May 24 21:45:17 2019 +0000
+++ b/hardware.cpp	Sun May 26 14:57:54 2019 +0000
@@ -24,10 +24,10 @@
         1500.0,                         /* Motor maximum speed [step/s]. */
         0.0,                           /* Motor minimum speed [step/s]. */
         602.7,                         /* Motor full-step speed threshold [step/s]. */
-        3.06,                          /* Holding kval [V]. */
-        3.06,                          /* Constant speed kval [V]. */
-        3.06,                          /* Acceleration starting kval [V]. */
-        3.06,                          /* Deceleration starting kval [V]. */
+        4.06,                          /* Holding kval [V]. */
+        4.06,                          /* Constant speed kval [V]. */
+        4.06,                          /* Acceleration starting kval [V]. */
+        4.06,                          /* Deceleration starting kval [V]. */
         61.52,                         /* Intersect speed for bemf compensation curve slope changing [step/s]. */
         392.1569e-6,                   /* Start slope [s/step]. */
         643.1372e-6,                   /* Acceleration final slope [s/step]. */
@@ -52,10 +52,10 @@
         1500.0,                         /* Motor maximum speed [step/s]. */
         0.0,                           /* Motor minimum speed [step/s]. */
         602.7,                         /* Motor full-step speed threshold [step/s]. */
-        3.06,                          /* Holding kval [V]. */
-        3.06,                          /* Constant speed kval [V]. */
-        3.06,                           /* Acceleration starting kval [V]. */
-        3.06,                          /* Deceleration starting kval [V]. */
+        4.06,                          /* Holding kval [V]. */
+        4.06,                          /* Constant speed kval [V]. */
+        4.06,                           /* Acceleration starting kval [V]. */
+        4.06,                          /* Deceleration starting kval [V]. */
         61.52,                         /* Intersect speed for bemf compensation curve slope changing [step/s]. */
         392.1569e-6,                   /* Start slope [s/step]. */
         643.1372e-6,                   /* Acceleration final slope [s/step]. */
@@ -109,6 +109,9 @@
     ENCBL.fall(&updateEncoderB);
     ENCBJ.rise(&updateEncoderB);
     ENCBJ.fall(&updateEncoderB);
+    
+    encoderValueA = 0;
+    encoderValueB = 0;
 
 }