Diff: main.cpp

Revision:

8:450fbccaf4f6

Parent:

7:2f785cb39f11

Child:

9:16a550d36425

--- a/main.cpp	Fri Apr 02 17:46:49 2021 +0000
+++ b/main.cpp	Tue Apr 06 00:58:00 2021 +0000
@@ -253,7 +253,7 @@
     msg->data[5] = 0xFF;
     msg->data[6] = 0xFF;
     msg->data[7] = 0xFE;
-    WriteAll();
+    //WriteAll();
     }
 
 void EnterMotorMode(CANMessage * msg){
@@ -265,7 +265,7 @@
     msg->data[5] = 0xFF;
     msg->data[6] = 0xFF;
     msg->data[7] = 0xFC;
-    WriteAll();
+    //WriteAll();
     }
     
 void ExitMotorMode(CANMessage * msg){
@@ -277,9 +277,10 @@
     msg->data[5] = 0xFF;
     msg->data[6] = 0xFF;
     msg->data[7] = 0xFD;
-    WriteAll();
+    //WriteAll();
     }
 
+
 void serial_isr(){
      /// handle keyboard commands from the serial terminal ///
      while(pc.readable()){
@@ -350,6 +351,7 @@
         WriteAll();
         
     }
+
     
 uint32_t xor_checksum(uint32_t* data, size_t len)
 {
@@ -524,8 +526,10 @@
         can3.write(q32_can);
         EnterMotorMode(&q33_can);
         can3.write(q33_can);
+        //WRITE THE COMMANDS
+        //WriteAll();
         //SERIAL TO USER
-        pc.printf("e\n\r");
+        //pc.printf("e\n\r");
         return;
     }
     else if((((spi_command.flags[0]&0x1))==0)  && (enabled==1)){
@@ -551,8 +555,10 @@
         can3.write(q32_can);
         ExitMotorMode(&q33_can);
         can3.write(q33_can);
+        //WRITE THE COMMANDS
+        //WriteAll();
         //SERIAL TO USER
-        pc.printf("x\n\r");
+        //pc.printf("x\n\r");
         return;
         }