Hlimi Omar
/
biniou
TRR2018 omar
Fork of biniou by
Diff: stateMachines.cpp
- Revision:
- 26:3b144f243646
- Parent:
- 25:3d03756a7fa5
- Child:
- 27:f8c3f1524a64
diff -r 3d03756a7fa5 -r 3b144f243646 stateMachines.cpp --- a/stateMachines.cpp Sun Sep 16 17:09:26 2018 +0000 +++ b/stateMachines.cpp Sun Sep 16 17:11:15 2018 +0000 @@ -474,7 +474,7 @@ } else if(tachySpeed_cmps > (maxSpeed_cmps + SPEED_DELTA_CMPS)) { st_tmpThro = BRAKING; - brakingDurationNeeded_us = (1000000)* MASSE_BINIOU_KG *((tachySpeed_cmps-maxSpeed_cmps)*(tachySpeed_cmps+maxSpeed_cmps)/100) / (PUISSANCE_FREINAGE_W *2) ; + brakingDurationNeeded_us = (10000)* MASSE_BINIOU_KG *((tachySpeed_cmps-maxSpeed_cmps)*(tachySpeed_cmps+maxSpeed_cmps)) / (PUISSANCE_FREINAGE_W *2) ;//vitesse en m/s et temps en us brakingTimer.reset(); brakingTimer.start(); } else