Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: main.cpp
- Revision:
- 25:3f2b585ae72d
- Parent:
- 24:5e18a87a0e95
- Child:
- 26:955a1dfc2705
--- a/main.cpp Sat Nov 05 14:02:22 2016 +0000 +++ b/main.cpp Sat Nov 05 15:49:11 2016 +0000 @@ -31,7 +31,7 @@ float last_d = 0.0f, last_q = 0.0f; float d_ref = 0.0f, q_ref = 0.0f; -bool control_enabled = true; +bool control_enabled = false; void commutate(); void zero_current(); @@ -89,8 +89,8 @@ } void commutate() { - //if(control_enabled && !throttle_in.get_enabled()) go_disabled(); - //if(!control_enabled && throttle_in.get_enabled()) go_enabled(); + if(control_enabled && !throttle_in.get_enabled()) go_disabled(); + if(!control_enabled && throttle_in.get_enabled()) go_enabled(); update_velocity();