Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
248:c4539ee69052
Parent:
243:96b03b3bf3ef
--- a/main.cpp	Tue Nov 13 16:05:11 2018 +0000
+++ b/main.cpp	Tue Nov 13 16:21:06 2018 +0000
@@ -53,6 +53,8 @@
     case OP_TORQUE:
         control.w_integral = 0.0f;
         control.torque_percent = control.user_cmd;
+        if (control.torque_percent < -1.0f) control.torque_percent = -1.0f;
+        if (control.torque_percent > 1.0f) control.torque_percent = 1.0f;
         break;
     case OP_DRIVING:
         control.w_integral = 0.0f;