ryo shatari / MotorController_2021_1210shata

shata

Diff: MotorController.cpp

Revision:
2:113b6a35d37c
Parent:
1:76da1a46652f
--- a/MotorController.cpp	Mon Oct 25 10:20:35 2021 +0000
+++ b/MotorController.cpp	Fri Dec 10 14:04:16 2021 +0000
@@ -111,6 +111,7 @@
 {
     ///////////////////////////////////////////////加速度制限
     double target_omega=target_omega_input;
+    present_target_omega = target_omega;
     if((target_omega_input-pre_target_omega)>acceleration_max) {
         target_omega=pre_target_omega+acceleration_max;
     } else if((target_omega_input-pre_target_omega)<-acceleration_max) {
@@ -120,6 +121,7 @@
     ec_->calOmega();
     double omega = ec_->getOmega();
     double devia = target_omega - omega;
+    present_devia_omega = devia;
     double pid = sc_pid->calP_D(devia,ec_->getAcceleration());
     double duty_;
     if (target_omega > 0.0) {