N K
/
analoghalls_part_4
yup
Fork of analoghalls by
Diff: util.cpp
- Revision:
- 5:eeb8af99cb6c
- Parent:
- 3:86ccde39f61b
diff -r f18f6bc5e1fd -r eeb8af99cb6c util.cpp --- a/util.cpp Thu Feb 26 04:49:21 2015 +0000 +++ b/util.cpp Thu Feb 26 09:50:36 2015 +0000 @@ -7,6 +7,7 @@ #ifdef __USE_THROTTLE dtc_upd_ticker.attach_us(&dtc_update, 200); throttle_upd_ticker.attach_us(&throttle_update, 100000); + isense_upd_ticker.attach_us(&isense_update,1000); #endif #ifndef __NATIVE @@ -68,7 +69,7 @@ } while (throttle_raw > 0.05f); motor->throttle = (1.0f - THROTTLE_LPF) * throttle_raw + THROTTLE_LPF * motor->throttle; - if (motor->throttle < 0.05f) { + if (motor->throttle < 0.05f & abs(motor->speed) < 1.0f) { motor->halt = 1; } else { motor->halt = 0;