Diff: main.cpp

Revision:

10:b7a44c4a4ef6

Parent:

9:56aed8c6779f

Child:

11:39bd79605827

--- a/main.cpp	Wed May 29 17:05:34 2019 +0000
+++ b/main.cpp	Wed May 29 18:57:39 2019 +0000
@@ -234,13 +234,15 @@
             if(F_RPM > 1.0f && !Bremsen && !recup){
                 torque = (F_PMech / 300.0 * 100)*pedFaktor;
                 if(i%10 == 0 && (torque < (torqueOld*0.95) || torque > (torqueOld * 1.05))) {
-                   // write torque to phaserunner;
-               //vorderrad.sendBuffer(477,uint16_t((80+(torque))*40.96f));
-               vorderrad.sendBuffer(495,uint16_t((0.10+(torque/100.0f))*4096));
-                //hinterrad.sendBuffer(495,uint16_t((0.20+(torque/100.0f))*4096));
-               //vorderrad.sendBuffer(495,0);
-               hinterrad.sendBuffer(495,0);
-                write = 10;
+                    vorderrad.sendBuffer(497,0);
+                    hinterrad.sendBuffer(497,0); 
+                    // write torque to phaserunner;
+                    //vorderrad.sendBuffer(477,uint16_t((80+(torque))*40.96f));
+                    vorderrad.sendBuffer(495,uint16_t((0.10+(torque/100.0f))*4096));
+                    //hinterrad.sendBuffer(495,uint16_t((0.20+(torque/100.0f))*4096));
+                    //vorderrad.sendBuffer(495,0);
+                    hinterrad.sendBuffer(495,0);
+                    write = 10;
                 torqueOld = torque;
                 printf("State: torque\n\r");
                   
@@ -263,27 +265,30 @@
             if((daumen.getValue() > Phaserunner::MIN_RECUPERATION)&& !recup){
                vorderrad.sendBuffer(495,0);
                hinterrad.sendBuffer(495,0);
-               wait_ms(1);
+               wait_ms(5);
                vorderrad.sendBuffer(497,uint16_t((float)daumen.getValue()/100.0f*4096));
                hinterrad.sendBuffer(497,uint16_t((float)daumen.getValue()/100.0f*4096));
                printf("State: recup\n\r");
                recup = true;
             }
-            else if(daumen.getValue() < Phaserunner::MIN_RECUPERATION) recup = false;
-         
+            else if(daumen.getValue() < Phaserunner::MIN_RECUPERATION){
+                 recup = false;
+            }
             if(Bremsen && !gebremst){
                write = -5;
                // write 0 to phaserunner
                vorderrad.sendBuffer(495,0);
                hinterrad.sendBuffer(495,0);
-               wait_ms(1);
+               wait_ms(5);
                vorderrad.sendBuffer(497,uint16_t(0.10f*4096));
                hinterrad.sendBuffer(497,uint16_t(0.10f*4096));
                printf("State: bremsen\n\r");
                gebremst = true; 
             }
-            else if(!Bremsen) gebremst = false;  
-            
+            else if(!Bremsen){
+                 gebremst = false; 
+           }        
+    
             
             
             int wert1 = daumen;