春ロボ1班(元F3RC4班+) / EC_speedcontrol_1010

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Dependents:   harurobo1006 harurobo_1026

Fork of EC by ROBOSTEP_LIBRARY

Diff: SpeedController.cpp

Revision:
22:b2a03aa754d9
Parent:
20:3ed9cd8e8676
--- a/SpeedController.cpp	Fri Apr 14 06:09:01 2017 +0000
+++ b/SpeedController.cpp	Sat Apr 15 07:53:16 2017 +0000
@@ -111,8 +111,8 @@
     integral+=diff;
     out_duty=0.01*(Kv_p*diff+Kv_d*(diff-diff_old)+Kv_i*integral);
     diff_old=diff;
-    if(out_duty>0.02)out_duty=0.02;
-    if(out_duty<-0.02)out_duty=-0.02;
+    if(out_duty>0.015)out_duty=0.015;
+    if(out_duty<-0.015)out_duty=-0.015;
     if((duty>=0)&&(duty<0.95)) out+=out_duty;
     duty=0.0001*out/*+target_RPM/C*/;
     turnF(duty);