From 2389e26e3be1b0dcc215d43886d6eb5a68182d12 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Sat, 29 Apr 2017 01:44:37 -0700
Subject: [PATCH] fix both motor MOE required

---
 MotorControl/low_level.c | 7 +++++++
 ODriveFirmware.launch    | 2 +-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/MotorControl/low_level.c b/MotorControl/low_level.c
index b64c81c6..f2b17d2a 100755
--- a/MotorControl/low_level.c
+++ b/MotorControl/low_level.c
@@ -1214,6 +1214,13 @@ void motor_thread(void const * argument) {
     motor->thread_ready = true;
 
 #ifdef STANDALONE_MODE
+    //Only run tests on M0 for now
+    if (motor == &motors[1]) {
+        // TODO: figure out why M1 MOE must be enabled to run M0 correctly
+        __HAL_TIM_MOE_ENABLE(motor->motor_timer);
+        FOC_voltage_loop(motor, 0.0f, 0.0f);
+    }
+
     motor->do_calibration = true;
     motor->enable_control = true;
 #endif
diff --git a/ODriveFirmware.launch b/ODriveFirmware.launch
index 2c8a0727..6aee50df 100644
--- a/ODriveFirmware.launch
+++ b/ODriveFirmware.launch
@@ -57,6 +57,6 @@
 <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
 <listEntry value="4"/>
 </listAttribute>
-<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#10;&lt;memoryBlockExpressionList context=&quot;Context string&quot;/&gt;&#10;"/>
+<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;Context string&quot;/&gt;&#13;&#10;"/>
 <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
 </launchConfiguration>