Diff: main.cpp

Revision:

252:a08f301231f1

Parent:

251:91d3ec3a087e

Child:

253:3ffd78cbd029

--- a/main.cpp	Fri Jul 01 05:37:08 2022 +0000
+++ b/main.cpp	Wed Jul 06 08:08:15 2022 +0000
@@ -1297,10 +1297,13 @@
                             valve_pos_pulse = -10000.0f;
                         }
                     }
-                    if (valve_pos_pulse >= 0) {
-                        valve_pos.ref = valve_pos_pulse/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
+                    float valve_control_deadzone = 5.0f;
+                    if(valve_pos_pulse < valve_control_deadzone && valve_pos_pulse > -valve_control_deadzone) {
+                        valve_pos.ref = ((float) VALVE_DEADZONE_PLUS + (float) VALVE_DEADZONE_MINUS) * 0.5f;
+                    } else if (valve_pos_pulse >= valve_control_deadzone) {
+                        valve_pos.ref = valve_pos_pulse/10000.0f * ((float) VALVE_MAX_POS - (float) VALVE_DEADZONE_PLUS) + (float) VALVE_DEADZONE_PLUS;
                     } else {
-                        valve_pos.ref = -valve_pos_pulse/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
+                        valve_pos.ref = -valve_pos_pulse/10000.0f * ((float) VALVE_MIN_POS - (float) VALVE_DEADZONE_MINUS) + (float) VALVE_DEADZONE_MINUS;
                     }
                     VALVE_POS_CONTROL_DZ(valve_pos.ref);
                     V_out = Vout.ref;