Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: ThrottleMapper/ThrottleMapper.cpp
- Revision:
- 111:451e40aed753
- Parent:
- 56:c681001dfa46
- Child:
- 160:6948bb7bcabd
--- a/ThrottleMapper/ThrottleMapper.cpp Sat Apr 15 05:22:50 2017 +0000 +++ b/ThrottleMapper/ThrottleMapper.cpp Fri Apr 21 01:23:59 2017 +0000 @@ -5,6 +5,8 @@ #include "config_driving.h" float DrivingThrottleMapper::map(float throttle, float w) { + if (throttle < 0.0f) throttle = 0.0f; + float z = getZeroTqThrottle(w); float tq, tqmax; @@ -37,6 +39,8 @@ } float LimitingThrottleMapper::map(float throttle, float w) { + if (throttle < 0.0f) throttle = 0.0f; + if (w <= __wlim) { return throttle; }