ロボステ6期 / SpeedController___2_25

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Dependencies:   Encoder

Dependents:   NHK2020-m2-2-ros_2_25

Diff: SpeedController.cpp

Revision:
6:d110c276aa5a
Parent:
1:735c0a48b445
Child:
9:32f31b0f5815
Child:
10:daf0e763bf35
Child:
11:b3e2ec75a4d7
--- a/SpeedController.cpp	Sat Aug 10 04:13:52 2019 +0000
+++ b/SpeedController.cpp	Sat Aug 10 05:20:49 2019 +0000
@@ -41,12 +41,9 @@
         Db_+=Cb_*pid;
         duty=Cb_*target_omega+Db_;
     } else duty=0;
-    if(duty<-duty_limit_)duty=-duty_limit_;
-    else if(duty>duty_limit_)duty=duty_limit_;
     turn(duty);
     pre_diff=diff;
     ptsc_=t;
-    //printf("tw=%.2f,w=%.2f,diff=%.2f,pid=%.2f,Df=%.2f,Db=%.2f,duty=%.4f\r\n",target_omega,omega,diff,pid,Df_,Db_,duty);
 }
 
 void SpeedControl::turn(double duty)
@@ -82,7 +79,7 @@
 }
 void SpeedControl::setDutyLimit(double duty_limit)
 {
-    if(0<=duty_limit && duty_limit<=0.95f)duty_limit_=duty_limit;
+    if(0<=duty_limit && duty_limit<0.95f)duty_limit_=duty_limit;
     else duty_limit_=0.95f;
 }