Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: main.cpp

Revision:
34:454a4256c4fe
Parent:
32:b31423041c4e
Child:
35:89385f64c867
--- a/main.cpp	Sat Nov 12 22:46:34 2016 +0000
+++ b/main.cpp	Wed Nov 23 02:38:15 2016 +0000
@@ -151,8 +151,9 @@
     float v = sqrtf(vd * vd + vq * vq);
     
     if (v > 1.0f) {
-        vd /= v;
-        vq /= v;
+        //vd /= v;
+        //vq /= v;
+        vq = sqrtf(1.0f - vd * vd);
     }
     
     if (!control_enabled) {