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

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

Revision:
30:db9081ac5658
Parent:
28:8c7e29f719c5
--- a/main.cpp	Mon Jun 12 17:41:00 2017 +0000
+++ b/main.cpp	Mon Aug 28 22:01:59 2017 +0000
@@ -271,10 +271,10 @@
                 //toggle.write(0);
                 controller.timeout += 1;
                 
-                if(count == 1){
+                if(count == 100){
                      //count = 0;
-                     wait(.001);
-                    //printf(" Started commutating\n\r");
+                     //wait(.001);
+                    //printf("%f\n\r", controller.i_q_ref);
                      }
                      }