WANG YUCHAO
/
Motor_DRV8323RH_for_20190
mit
Diff: main.cpp
- Revision:
- 50:7dfd3eb439e8
- Parent:
- 49:10638a45c3ac
diff -r 10638a45c3ac -r 7dfd3eb439e8 main.cpp --- a/main.cpp Sat Dec 05 06:55:55 2020 +0000 +++ b/main.cpp Tue May 04 12:52:52 2021 +0000 @@ -49,7 +49,7 @@ PositionSensorAM5147 spi(16384, 0.0, NPP); //14 bits encoder, 21 NPP -volatile int count = 0; +//volatile int count = 0; volatile int state = REST_MODE; volatile int state_change; @@ -187,7 +187,7 @@ case MOTOR_MODE: // Run torque control if(state_change){ enter_torque_mode(); - count = 0; + // count = 0; } else{ /*