N K / Mbed 2 deprecated analoghalls_part_4

yup

Dependencies:   mbed

Fork of analoghalls by Bayley Wang

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;