Diff: Motion.cpp

Revision:

25:8854037f6336

Parent:

24:11c5fb5280eb

Child:

26:f964408401fa

--- a/Motion.cpp	Tue May 15 15:11:37 2018 +0000
+++ b/Motion.cpp	Tue May 15 15:29:02 2018 +0000
@@ -420,7 +420,7 @@
         
         oldErrorP = errorP;
         
-        if (abs(errorP) < 80.0f) {
+        if (abs(errorP) > 1.0f && abs(errorP) < 80.0f) {
             totalError = KP*errorP + KD*errorD;
         }/*else{
             totalError = 0;
@@ -547,19 +547,19 @@
             
         }else if(avgSpeed > targetSpeed+5.0f && deceleration == false && acceleration == false && longMove == false) {
             
-            actSpeed =  50.0f;
+            actSpeed =  51.0f;
             
         }else if (avgSpeed < targetSpeed*2.8f && acceleration == true) {
             
             actSpeed = ACCEL_CONST * t.read()*60.0f; 
                
-        }else if (avgSpeed > targetSpeed && deceleration == true) {
+        }else if (avgSpeed > targetSpeed+5.0f && deceleration == true) {
         
             actSpeed = targetSpeed*2.8f - ACCEL_CONST * t.read()*60.0f;
             
         }else if (avgSpeed < targetSpeed && deceleration == true) {
             
-            actSpeed = 50.0f;
+            actSpeed = 51.0f;
             
         }    
 }