Motor control for robots. More compact, less object-oriented revision.

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

Revision:
32:ccac5da77844
Parent:
28:8c7e29f719c5
Child:
34:51647c6c500d
--- a/main.cpp	Wed Aug 30 15:28:40 2017 +0000
+++ b/main.cpp	Wed Aug 30 18:05:37 2017 +0000
@@ -10,6 +10,7 @@
 #define SETUP_MODE 4
 #define ENCODER_MODE 5
 
+#define VERSION_NUM "1.0.1"
 
 
 float __float_reg[64];                                                          // Floats stored in flash
@@ -272,8 +273,8 @@
                 controller.timeout += 1;
                 
                 if(count == 1){
-                     //count = 0;
-                     wait(.001);
+                     count = 0;
+                     //wait(.001);
                     //printf(" Started commutating\n\r");
                      }
                      }
@@ -425,6 +426,7 @@
     pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
     wait(.01);
     printf("\n\r Debug Info:\n\r");
+    printf(" Firmware Version: %s\n\r", VERSION_NUM);
     printf(" ADC1 Offset: %d    ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
     printf(" Position Sensor Electrical Offset:   %.4f\n\r", E_OFFSET);
     printf(" CAN ID:  %d\n\r", CAN_ID);