Diff: main.cpp

Revision:

23:d48d51e5db97

Parent:

22:1c329584282b

Child:

24:4032857546f4

--- a/main.cpp	Fri Mar 10 18:53:47 2017 +0000
+++ b/main.cpp	Fri Mar 10 19:53:08 2017 +0000
@@ -123,6 +123,7 @@
 {
     //revsec set to zero prevents recurring interrupt for constant speed
     revsec = 0;
+    wait(spinWait);
     //0x2A turns all motor transistors off to prevent any power usage
     motor = 0x2A;
 }
@@ -148,13 +149,15 @@
 
 void fixedSpeed()
 {
-    intState = readRotorState();
-    //Increment state machine to next state
-    motorOut(intState);
     //If spinning is required, attach the necessary wait to the
     //timeout interrupt to call this function again and
     //keep the motor spinning at the right speed
     if(revsec) spinTimer.attach(&fixedSpeed, spinWait);
+    
+    intState = readRotorState();
+    //Increment state machine to next state
+    motorOut(intState);
+
 }
 
 //void spinToPos()
@@ -467,6 +470,7 @@
                     //Print error message
                     motorStop();
                     pc.printf("Error in received data 0\n\r");
+                    motorStop();
                     break;
             }
         }