Diff: Output/Motor/Motor.cpp

Revision:

8:cb53beff4bb2

Parent:

1:e73cf2469f83

--- a/Output/Motor/Motor.cpp	Sat Jan 27 05:29:03 2018 +0000
+++ b/Output/Motor/Motor.cpp	Sat Feb 24 07:32:11 2018 +0000
@@ -33,12 +33,12 @@
 
     void Motor::Initialize(void) {
         //Port Initialize
-        for(uint8_t i = 0; i < MOUNTING_MOTOR_NUM * 2; i++) {
+        for(uint8_t i = MOTOR_START_NUM; i < MOUNTING_MOTOR_NUM * 2; i++) {
             directions[i] = 0;
         }
 
         //Pwm Initialize
-        for(uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
+        for(uint8_t i = MOTOR_START_NUM; i < MOUNTING_MOTOR_NUM; i++) {
             pwms[i].period_us(50);  //20kHz
             pwms[i] = 0.0;
         }
@@ -47,20 +47,20 @@
     }
 
     void Motor::SetDefault(void) {
-        for(uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
+        for(uint8_t i = MOTOR_START_NUM; i < MOUNTING_MOTOR_NUM; i++) {
             motor[i].dir = FREE;
             motor[i].pwm = 0;
         }
     }
 
     void Motor::Update(MotorStatus *status) {
-        for(uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) motor[i] = status[i];
+        for(uint8_t i = MOTOR_START_NUM; i < MOUNTING_MOTOR_NUM; i++) motor[i] = status[i];
 
         //PWM Update
-        for(uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) pwms[i] = percentage_to_ratio(motor[i].pwm);
+        for(uint8_t i = MOTOR_START_NUM; i < MOUNTING_MOTOR_NUM; i++) pwms[i] = percentage_to_ratio(motor[i].pwm);
 
         //Port Update
-        for(uint8_t i = 0; i < MOUNTING_MOTOR_NUM; i++) {
+        for(uint8_t i = MOTOR_START_NUM; i < MOUNTING_MOTOR_NUM; i++) {
             directions[i * 2]       = motor[i].d1;
             directions[i * 2 + 1]   = motor[i].d2;
         }