Laboratório Controle Aplicado / PTC3471

Biblioteca PTC3471 - Algoritmo de Trava - V1.0

Dependents:   Template_PTC3471_Geral LQR_With_Integrator_Implicito LQR_No_Integrator_Implicito Template_PTC3471_Geral_2020_V2 ... more

Fork of PTC3471 by Arthur Oliveira

Diff: PTC3471.cpp

Revision:
8:3dc948da2dc6
Parent:
7:afc76d3bbaa1
--- a/PTC3471.cpp	Thu Aug 09 15:57:48 2018 +0000
+++ b/PTC3471.cpp	Thu Aug 09 16:25:29 2018 +0000
@@ -30,12 +30,12 @@
     Ctrl_LerAngulos();
     
     if(Ctrl_dPhi>=0.01){
-        Ctrl_Motor = min(2*Ctrl_dPhi, 0.7);
+        Ctrl_Motor = min(2*Ctrl_dPhi, 0.3);
         Ctrl_Direita = 1;
         Ctrl_Esquerda = 0;
     }
     else if(Ctrl_dPhi<=-0.01){
-        Ctrl_Motor = min(-2*Ctrl_dPhi, 0.7);
+        Ctrl_Motor = min(-2*Ctrl_dPhi, 0.3);
         Ctrl_Direita = 0;
         Ctrl_Esquerda = 1;
     }