Diff: main.cpp

Revision:

19:d537c79cc48f

Parent:

18:1215f085b60f

--- a/main.cpp	Tue Apr 19 08:36:16 2016 +0000
+++ b/main.cpp	Tue Apr 19 08:51:51 2016 +0000
@@ -80,17 +80,8 @@
         beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
         
         q = -alpha * sin_p - beta * cos_p;
-                
-        if (throttle_in.read() == 0) {
-            state = 0;
-            throttle_scaler = 0.0f;
-            en = 0;
-        } else {
-            state = 1;
-            throttle_scaler = 1.0f;
-            en = 1;
-        }
         
+        throttle_scaler = 1.0;
         double q_err = Q_REF_MAX * (double) throttle_scaler - q;
         
         //DAC->DHR12R2 = (unsigned int) (q_err * 20 + 2048);
@@ -191,7 +182,15 @@
     pc.printf("%s\n\r", "THE DENTIST controller Rev. A");
     
     for (;;) {
-        //pc.printf("%f\n\r", p);
-        //wait_ms(100);
+        if (throttle_in.read() == 0) {
+            state = 0;
+            throttle_scaler = 0.0f;
+            en = 0;
+        } else {
+            state = 1;
+            throttle_scaler = 1.0f;
+            en = 1;
+        }
+        wait_ms(1000);
     }
 }