riko-ten / EC2

ec

Dependents:   F3RC

Fork of EC by ROBOSTEP_LIBRARY

Diff: SpeedController.cpp

Revision:
24:8ac46a6d2ac4
Parent:
23:ee41ae658144
Child:
26:45a53e3c81b1
diff -r ee41ae658144 -r 8ac46a6d2ac4 SpeedController.cpp
--- a/SpeedController.cpp	Sat Apr 15 11:05:49 2017 +0000
+++ b/SpeedController.cpp	Tue Apr 18 04:12:19 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>0.04)out_duty=0.04;
+    if(out_duty<-0.04)out_duty=-0.04;
     if((duty>=0)&&(duty<0.95)) out+=out_duty;
     duty=0.0001*out/*+target_RPM/C*/;
     if(duty>=0.95) {