Diff: Processes/MotorControl/MotorControl.cpp

Revision:

64:c979fb1cd3b5

Parent:

63:c2c6269767b8

Child:

73:265d3cc6b0b1

diff -r c2c6269767b8 -r c979fb1cd3b5 Processes/MotorControl/MotorControl.cpp
--- 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;