Jorn Dokter / Mbed 2 deprecated TEB_branch2

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

Diff: main.cpp

Revision:
38:3ff3cdb8740d
Parent:
37:6602655a80f4
diff -r 6602655a80f4 -r 3ff3cdb8740d main.cpp
--- a/main.cpp	Thu Oct 10 15:33:24 2019 +0000
+++ b/main.cpp	Thu Oct 10 15:42:26 2019 +0000
@@ -158,7 +158,37 @@
 void Run_CalibrationPhysical(void)
 {
     pc.printf("Starting Calibration Physical ... \r\n");
-    wait(1);
+    //Motor 1
+        if (::motorData.motor1.input.PWM == 0) //To prevent setting every Ticker
+        {
+            ::motorData.motor1.input.PWM = .1; //set low PWM on motor
+        }
+        if (::motorData.motor1.output.velocity <= .1)
+        {
+            ::motorData.motor1.input.calibrationCounts = ::motorData.motor1.output.counts; //set the counts of calibration as input for motor
+            ::motorData.motor1.input.PWM = 0; //set PWM back to zero
+        }
+    //Motor 2
+        if (::motorData.motor2.input.PWM == 0)
+        {
+            ::motorData.motor2.input.PWM = .1;
+        }
+        if (::motorData.motor2.output.velocity <= .1)
+        {
+            ::motorData.motor2.input.calibrationCounts = ::motorData.motor2.output.counts;
+            ::motorData.motor2.input.PWM = 0;
+        }
+    //Motor 3
+        if (::motorData.motor3.input.PWM == 0)
+        {
+            ::motorData.motor3.input.PWM = .1;
+        }
+        if (::motorData.motor3.output.velocity <= .1)
+        {
+            ::motorData.motor3.input.calibrationCounts = ::motorData.motor3.output.counts;
+            ::motorData.motor3.input.PWM = 0;
+        }
+    
     CurrentState = CalibrationIdle;
 }