2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: Processes/MotorControl/MotorControl.cpp
- Revision:
- 64:c979fb1cd3b5
- Parent:
- 63:c2c6269767b8
- Child:
- 73:265d3cc6b0b1
--- a/Processes/MotorControl/MotorControl.cpp Sun Apr 14 14:32:43 2013 +0000 +++ b/Processes/MotorControl/MotorControl.cpp Sun Apr 14 14:59:57 2013 +0000 @@ -74,8 +74,8 @@ float lff = fwdcmd - omegacmd*ENCODER_WHEELBASE/2.0f; float rff = fwdcmd + omegacmd*ENCODER_WHEELBASE/2.0f; - mleft(max(min(actuateleft + max(power_per_dc_m_per_s*abs(lff), hysteresis_pwr)*sgn(lff), MOTOR_MAX_POWER), -MOTOR_MAX_POWER)); - mright(max(min(actuateright + max(power_per_dc_m_per_s*abs(rff), hysteresis_pwr)*sgn(rff), MOTOR_MAX_POWER), -MOTOR_MAX_POWER)); + mleft(max(min(actuateleft + max(power_per_dc_m_per_s*abs(lff), min(hysteresis_pwr, 3.0f*abs(lff)))*sgn(lff), MOTOR_MAX_POWER), -MOTOR_MAX_POWER)); + mright(max(min(actuateright + max(power_per_dc_m_per_s*abs(rff), min(hysteresis_pwr, 3.0f*abs(rff)))*sgn(rff), MOTOR_MAX_POWER), -MOTOR_MAX_POWER)); if (!(abs(actuateleft) > MOTOR_MAX_POWER || abs(actuateright) > MOTOR_MAX_POWER)){ fwdIstate += errfwd;