SHENG-HEN HSIEH / Mbed 2 deprecated VDU_2021

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Dependencies:   mbed imu_driver

Files at this revision

API Documentation at this revision

Revision 27:52260996ce32, committed 2021-03-06

Comitter:
open4416
Date:
Sat Mar 06 00:11:27 2021 +0000
Parent:
26:ad4fbceeb4ae
Commit message:
Yet test

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r ad4fbceeb4ae -r 52260996ce32 main.cpp
--- a/main.cpp	Sun Feb 21 04:25:00 2021 +0000
+++ b/main.cpp	Sat Mar 06 00:11:27 2021 +0000
@@ -541,14 +541,15 @@
 
     } else {
         //2020/8/19 for fast test pure rear
+        //2021/3/4 change front max to 11Nm to test?
         Tlsd_tmp = (FL_W_ele - FR_W_ele)*0.01f;     // map 1000 rad/s difference to ~ 10Nm
         Tlsd_tmp = constrain(Tlsd_tmp,-10.0f,10.0f);
         if(Tlsd_tmp>0.0f) {  //L > R
-            FL_Tcmd = 0.15f*Trq_HMI - Tlsd_tmp;
-            FR_Tcmd = 0.15f*Trq_HMI;
+            FL_Tcmd = 0.11f*Trq_HMI - Tlsd_tmp;
+            FR_Tcmd = 0.11f*Trq_HMI;
         } else {        //L < R, Tlsd_tmp < 0
-            FL_Tcmd = 0.15f*Trq_HMI;
-            FR_Tcmd = 0.15f*Trq_HMI + Tlsd_tmp;
+            FL_Tcmd = 0.11f*Trq_HMI;
+            FR_Tcmd = 0.11f*Trq_HMI + Tlsd_tmp;
         }
         //Rear differential
         Tlsd_tmp = (RL_W_ele - RR_W_ele)*0.005f;    // map 1000 rad/s difference to ~ 5Nm
@@ -589,10 +590,10 @@
 //    RR_Tcmd = 1.0f*RR_Tcmd;
 
 //Add to force only one motor drive (DYNO)
-    FL_Tcmd = 0.0f*Trq_HMI;
-    FR_Tcmd = 0.0f*Trq_HMI;
-    RL_Tcmd = 0.1f*Trq_HMI;
-    RR_Tcmd = 0.0f*Trq_HMI;
+//    FL_Tcmd = 0.0f*Trq_HMI;
+//    FR_Tcmd = 0.0f*Trq_HMI;
+//    RL_Tcmd = 0.1f*Trq_HMI;
+//    RR_Tcmd = 0.0f*Trq_HMI;
 
 }