FUNCTION_BLOCK Idle
VAR_INPUT
idleON : BOOL;
END_VAR
VAR_OUTPUT
END_VAR
VAR
END_VAR
IF idleON THEN
globals.motorSpeeds[0] := 0;
globals.motorSpeeds[1] := 0;
globals.motorSpeeds[2] := 0;
globals.motorSpeeds[3] := 0;
globals.motorSpeeds[4] := 0;
globals.motorSpeeds[5] := 0;
globals.motorSpeeds[6] := 0;
globals.motorSpeeds[7] := 0;
END_IF
| 