Diff: main.cpp

Revision:

52:af0f52e2ecda

Parent:

50:ba72df25d10f

--- a/main.cpp	Fri Apr 05 03:46:51 2019 +0000
+++ b/main.cpp	Tue Nov 10 07:43:56 2020 +0000
@@ -54,7 +54,7 @@
 
 PositionSensorAM5147 spi(16384, 0.0, NPP);  
 
-volatile int count = 0;
+volatile int countt = 0;
 volatile int state = REST_MODE;
 volatile int state_change;
 
@@ -198,7 +198,7 @@
             case MOTOR_MODE:                                                   // Run torque control
                 if(state_change){
                     enter_torque_mode();
-                    count = 0;
+                    countt = 0;
                     }
                 else{
                 /*
@@ -224,7 +224,7 @@
                 commutate(&controller, &observer, &gpio, controller.theta_elec);           // Run current loop
 
                 controller.timeout++;
-                count++; 
+                countt++; 
             
                 }     
                 break;