Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

Dependencies:   mbed FastPWM

Diff: main.cpp

Revision:
234:bd00f763acb1
Parent:
233:2ec0de8590d3
Child:
235:c831718303c9
--- a/main.cpp	Wed Jun 02 03:14:34 2021 +0000
+++ b/main.cpp	Mon Jun 07 01:17:25 2021 +0000
@@ -944,12 +944,14 @@
                     V_rem = VALVE_PWM_RAW - V_MAX;
                     V_rem = Ka*V_rem;
                     VALVE_PWM_RAW = V_MAX;
-                    I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
+//                    I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
+                    I_ERR_INT = I_ERR_INT - V_rem;
                 } else if (VALVE_PWM_RAW < -V_MAX) {
                     V_rem = VALVE_PWM_RAW - (-V_MAX);
                     V_rem = Ka*V_rem;
                     VALVE_PWM_RAW = -V_MAX;
-                    I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
+//                    I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
+                    I_ERR_INT = I_ERR_INT - V_rem;
                 }
             } else {
                 VALVE_PWM_RAW = I_REF * mV_PER_mA;