Jens Frank Jensen / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   mbed FastPWM3

Diff: main.cpp

Revision:
118:2b6dab10b69d
Parent:
115:6c1bce07768d
Child:
119:ad7a6af6fba3
--- a/main.cpp	Sun Apr 23 07:17:48 2017 +0000
+++ b/main.cpp	Mon Apr 24 01:51:16 2017 +0000
@@ -8,6 +8,7 @@
 #include "Transforms.h"
 #include "DQMapper.h"
 #include "ThrottleMapper.h"
+#include "Calibration.h"
 
 #include "BREMSStructs.h"
 #include "BREMSConfig.h"
@@ -48,7 +49,7 @@
     read.w = update_filter(read.w, w_raw, W_FILTER_STRENGTH);
 }
 
-void commutate() {    
+void commutate() {  
     /*safety checks, do we do anything this cycle?*/
     if (!control_enabled && io.throttle_in->get_enabled() && io.pos->IsValid() && is_driving()) {
         go_enabled();
@@ -182,6 +183,13 @@
     th = new NullThrottleMapper();
     BREMSInit(&io, &read, &foc, &control, false);
     
+    /*
+    for (;;) {
+        float x = io.throttle_in->get_throttle();
+        if (x > 0.5f) calibrate_position(&io);
+    }
+    */    
+    
     for (;;) {
         if (ENABLE_LOGGING) {
             log();