Open loop implemented for calibration

source_code/Teensy32/src/encoder.cpp

@@ -20,7 +20,7 @@ int Zoffset = 0;
 // This is the difference in encoder tics from the Z index to 
 // the electrical encoder zero (which is found by powering the 
 // AB block and waiting for the motor to settle)
-int hard_coded_offset = 304;
+int hard_coded_offset = -1051;
 
 // how long in microsec (us) to delay between phases while calibrating
 // the wheel
@@ -165,8 +165,13 @@ int calibrate_encoder(void)
     //worst case needs 6 full electrical rotations
     Serial.println("STARTING CALIBRATION");
     while(1){
-        Serial.println("TURN FOR MANUEL CALIBRATION");
-        delayMicroseconds(100000); //0.1 sec delay
+        for(int p = 1; p <= 6; p++)
+        {
+            set_block_phase(p);
+            int myDelay = 28500;
+            delayMicroseconds(myDelay);
+        }
+
         if(calibrated == true){
             //ditch the interrupt
             turn_all_off();