Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
87:eb5e918a6930
Parent:
86:b059f637e9ac
--- a/main.cpp	Sun Mar 12 08:54:19 2017 +0000
+++ b/main.cpp	Sat Mar 25 01:58:33 2017 +0000
@@ -140,17 +140,21 @@
     /*output to timers*/
     switch (BREMS_mode) {
     case MODE_CFG:
+        io.en->write(0);
         set_dtc(io.a, 0.5f);
         set_dtc(io.b, 0.5f);
         set_dtc(io.c, 0.5f);
         break;
     case MODE_RUN:
+        io.en->write(1);
         set_dtc(io.a, 0.5f + 0.5f * va);
         set_dtc(io.b, 0.5f + 0.5f * vb);
         set_dtc(io.c, 0.5f + 0.5f * vc);
         break;
     case MODE_ZERO:
-        //zeroing code here;
+        set_dtc(io.a, 0.05f);
+        set_dtc(io.b, 0.95f);
+        set_dtc(io.c, 0.95f);
         break;
     case MODE_CHR:
         //i have no idea lol;