From d27432fbfa2707bbe77704ad8eab80ccb68673d5 Mon Sep 17 00:00:00 2001
From: Shlomo Hecht <shlomo@twine-s.com>
Date: Wed, 16 Oct 2019 13:48:33 +0300
Subject: fix parameters

---
 .../Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c   | 17 +++++------------
 1 file changed, 5 insertions(+), 12 deletions(-)

(limited to 'Software/Embedded_SW/Embedded/Drivers/FPGA')

diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index 13efd983a..e712187bd 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -418,6 +418,11 @@ void FPGA_SetMotorsInit()
 {
     uint8_t i=0;
 
+    for(i=0;i<NUM_OF_MOTORS;i++)
+    {
+        Change_Motor_SPI_Direction(i,Current_Or_Voltage);
+    }
+
     //LOW logic level resets the logic and puts the device into Standby mode.
     F1_Moto_Driver_NSTBYRST1 = 0;
     F1_Moto_Driver_NSTBYRST2 = 0;
@@ -435,18 +440,6 @@ void FPGA_SetMotorsInit()
     {
         MotorDriverRequest[i].Stop = Hard_Hiz;
         FPGA_SetMotStop((HardwareMotorType)i);
-        switch (i) //set the kval hold to a lower value for now
-        {
-            case HARDWARE_MOTOR_TYPE__MOTO_LDANCER1:
-            case HARDWARE_MOTOR_TYPE__MOTO_LDANCER2:
-            case HARDWARE_MOTOR_TYPE__MOTO_RDANCER:
-            case HARDWARE_MOTOR_TYPE__MOTO_LLOADING:
-            case HARDWARE_MOTOR_TYPE__MOTO_RLOADING:
-                MotorSetKvalHold(i, 3);
-                break;
-            default:
-                break;
-        }
 
 #ifdef TEST_POWERSTEP01
 
-- 
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