Team Virgo v3 / Orion_newPCB_test_LV

Implement new controller

Dependencies:   mbed-rtos mbed QEI BNO055 MPU6050_DMP_Nucleo-I2Cdev virgo3_imuHandler_Orion_PCB MAX17048 Servo

Fork of Orion_newPCB_test by Team Virgo v3

Diff: 01_DriveTrain/pidBearing.cpp

Revision:
30:44676e1b38f8
Parent:
29:a6a812ee83ea
--- a/01_DriveTrain/pidBearing.cpp	Tue Mar 20 03:47:56 2018 +0000
+++ b/01_DriveTrain/pidBearing.cpp	Tue Mar 20 05:56:22 2018 +0000
@@ -48,7 +48,7 @@
                 *k3 = 0.0;
             else
                 *k3= generalFunctions::abs_f(generalFunctions::map_f(generalFunctions::abs_f(minDist), 0, max_in, 0.0, lGain));
-                *k3 = generalFunctions::constrain_f(*k3, 0, 1.25);
+                *k3 = generalFunctions::constrain_f(*k3, 0, lGain);
             
             
             *wl = -(10 + *speedChange)*(*k3);