Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
28:ed9c1ca386fd
Parent:
27:7e073122ddf8
Child:
29:50e6e4e46580
--- a/main.cpp	Sun Nov 06 04:27:40 2016 +0000
+++ b/main.cpp	Mon Nov 07 10:56:01 2016 +0000
@@ -89,8 +89,9 @@
 }
 
 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 && !pos.IsValid()) go_disabled();
+    if (!control_enabled && throttle_in.get_enabled()) go_enabled();
     
     update_velocity();