Diff: SpeedController.cpp

Revision:

4:1b333860dd41

Parent:

2:a9216df32be6

Child:

5:4abba4f54406

diff -r 65ecbd28545c -r 1b333860dd41 SpeedController.cpp
--- a/SpeedController.cpp	Wed Oct 12 05:17:56 2016 +0000
+++ b/SpeedController.cpp	Wed Nov 02 02:43:15 2016 +0000
@@ -22,8 +22,8 @@
     if(out_duty<-0.1)out_duty=-0.1;
     out+=out_duty;
     duty=0.0001*out+target_omega/C;
-    if(duty<-0.5)duty=-0.5;
-    else if(duty>0.5)duty=0.5;
+    if(duty<-0.95)duty=-0.95;
+    else if(duty>0.95)duty=0.95;
     
     if(duty>=0){
         pwm_F_=duty;
@@ -53,11 +53,21 @@
 }
 
 void SpeedControl::turnF(double duty){
-    pwm_F_=duty;
-    pwm_B_=0;
+    if(duty>0.95) {
+        pwm_F_=0.95;
+        pwm_B_=0;
+    } else {
+        pwm_F_=duty;
+        pwm_B_=0;
+    }
 }
 
 void SpeedControl::turnB(double duty){
-    pwm_F_=0;
-    pwm_B_=duty;
+    if(duty>0.95) {
+        pwm_F_=0;
+        pwm_B_=0.95;
+    } else {
+        pwm_F_=0;
+        pwm_B_=duty;
+    }
 }
\ No newline at end of file