Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2_copy1
2011
Diff: main.cpp
- Revision:
- 234:bd00f763acb1
- Parent:
- 233:2ec0de8590d3
- Child:
- 235:c831718303c9
diff -r 2ec0de8590d3 -r bd00f763acb1 main.cpp --- 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;