Commit 664b0a77 authored by mattdr's avatar mattdr
Browse files

Merge branch 'master' of gitlab.eecs.umich.edu:mattdr/supermileage_2018

parents 07a93e49 6aedef06
......@@ -59,6 +59,7 @@ H TO TO SEND SPECIFIC PHASES DEBUG MOTOR\n");
do_hard_coded_offset();// run the set zero
break;
case 'o':
//Use this when we need to use o-scope to find a bad ABC channel.
charge_bootstrap_capacitors();
open_loop_control();
break;
......
......@@ -97,7 +97,7 @@ void motor_setup(void) {
pinMode(time_led, OUTPUT);
digitalWrite(time_led, LOW);
//setup the pot_0_timer and the coast_timer to run thirty times a second
//setup the pot_0_timer and the coast_timer to run thirty times a second to find value from pot
pot_0_timer.begin(pot_0_speed_ISR, 33333);
}
......@@ -379,6 +379,7 @@ void motor_butt_control_precalculated(void)
set_phase_float(f1,f2,f3);
digitalWrite(time_led, LOW);
//TODO: Remove the delay
delayMicroseconds(42); // This was calculated to keep the code
// from running faster than the period
// of the high side freq
......
......@@ -155,7 +155,7 @@ int debug_pot_0_scaled()
// prints it to the command line and then turns everything off
void do_hard_coded_offset(void)
{
int rtn = calibrate_encoder();
calibrate_encoder();
while(1)
{
int my_position = 0;
......
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