Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
243:96b03b3bf3ef
Parent:
242:ac30f04fd6f7
Child:
248:c4539ee69052
--- a/main.cpp	Mon Nov 12 10:58:59 2018 +0000
+++ b/main.cpp	Mon Nov 12 11:16:43 2018 +0000
@@ -62,9 +62,9 @@
         w_ref = control.user_cmd * _W_SETPOINT_MAX;
         w_err = w_ref - read.w;
         control.w_integral += w_err * KI_W;
-        control.w_integral = constrain(control.w_integral, -0.1f, 0.1f);
+        control.w_integral = constrain(control.w_integral, -_W_LOOP_MAX_TQ, _W_LOOP_MAX_TQ);
         control.torque_percent = KP_W * w_err + control.w_integral;
-        control.torque_percent = constrain(control.torque_percent, -0.1f, 0.1f);
+        control.torque_percent = constrain(control.torque_percent, -_W_LOOP_MAX_TQ, _W_LOOP_MAX_TQ);
         break;
     case OP_POSITION:
         break;