Diff: SpeedController.cpp

Revision:

17:e0b465d9b579

Parent:

16:14d05ae8d566

Child:

18:31058ca8fc8a

diff -r 14d05ae8d566 -r e0b465d9b579 SpeedController.cpp
--- a/SpeedController.cpp	Mon Apr 10 10:14:38 2017 +0000
+++ b/SpeedController.cpp	Tue Apr 11 07:51:08 2017 +0000
@@ -21,7 +21,7 @@
     diff_old=diff;
     if(out_duty>0.1)out_duty=0.1;
     if(out_duty<-0.1)out_duty=-0.1;
-    out+=out_duty;
+    if((duty>0)&&(duty<0.95)) out+=out_duty;
     duty=0.0001*out+target_omega/C;
     if(duty<-0.95)duty=-0.95;
     else if(duty>0.95)duty=0.95;
@@ -113,7 +113,7 @@
     diff_old=diff;
     if(out_duty>0.01)out_duty=0.01;
     if(out_duty<-0.01)out_duty=-0.01;
-    out+=out_duty;
+    if((duty>0)&&(duty<0.95)) out+=out_duty;
     duty=0.0001*out/*+target_RPM/C*/;
     turnF(duty);
 }
@@ -128,7 +128,7 @@
     diff_old=diff;
     if(out_duty>0.001)out_duty=0.001;
     if(out_duty<-0.001)out_duty=-0.001;
-    out+=out_duty;
+    if((duty>0)&&(duty<0.95)) out+=out_duty;
     duty=0.001*out;
     turnF(duty);
 }