Matti Borchers / Mbed 2 deprecated mbed_amf_controlsystem_iO_copy

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Dependencies:   mbed-rtos mbed

Fork of mbed_amf_controlsystem_iO_copy by Oliver Wenzel

Diff: Controller/QuadratureController.cpp

Revision:
4:f0be27a5a83a
Parent:
3:391c4639bc7d
Child:
6:aa27bc8c58f5
--- a/Controller/QuadratureController.cpp	Thu Feb 04 08:54:06 2016 +0000
+++ b/Controller/QuadratureController.cpp	Thu Feb 04 09:33:42 2016 +0000
@@ -30,7 +30,7 @@
     }
 }
 
-void QuadratureController::cylic_control(void const *args) {
+void QuadratureController::cylic_control() {
     check_queues();
     
     q_e = steering_angle_set - steering_angle_current;
@@ -42,7 +42,7 @@
     q_output = feed_forward + q_PI_controller;
 
     if(q_output > 500){q_output = 500;}           // evtl Begrenzung schon auf z.b. 300/ -300 stellen (wegen Linearität)
-    if(q_output < -500){q_output = - 500;}
+    else if(q_output < -500){q_output = - 500;}
 
     q_PWM = 1500 + q_output;