2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Diff: TVDCTRL.cpp

Revision:
14:7cc98e159c6e
Parent:
13:6dc51981f391
Child:
15:3255cbe4ff34
--- a/TVDCTRL.cpp	Tue Aug 09 06:10:35 2016 +0000
+++ b/TVDCTRL.cpp	Tue Aug 09 07:52:17 2016 +0000
@@ -314,8 +314,9 @@
         disTrq = 0;
     else {
         steering -= deadband;
-        disTrq = (int)((MAX_DISTRIBUTION_TORQUE / (M_PI - deadband)) * steering);
+        disTrq = (int)(MAX_DISTRIBUTION_TORQUE / (M_PI - deadband) * steering);
     }
+    //pc.printf("%d\r\n", disTrq);
 
     return disTrq;
 }
@@ -338,6 +339,8 @@
         outputVoltage = (int)((double)(LINEAR_REGION_VOLTAGE-DACOUTPUT_MIN)/LINEAR_REGION_TORQUE * torque);
     } else {
         rpm = (int)(1.0/getPulseTime(rl)*1000000.0 * 60.0);  //pulseTime:[us]
+        
+        //rpm = 0;
 
         if(rpm < 3000) {        //3000rpm未満は回転数による出力制限がないフラットな領域
             outputVoltage = interpolateLinear(torque, MAX_MOTOR_TORQUE);
@@ -440,8 +443,10 @@
         torqueHigh = (int)(requestTorque*2.0);   //片モーター下限値時，反対のモーターも出力クリップ
     } else
         torqueLow = requestTorque - distributionTrq;
+    
+    //printf("%d %d\r\n", torqueLow, torqueHigh);
 
-    if(getSteerDirection()) {
+    if(getSteerDirection()==1) {
         //steer left
         McpData.valA = calcTorqueToVoltage(torqueHigh, RIGHT_MOTOR);
         McpData.valB = calcTorqueToVoltage(torqueLow, LEFT_MOTOR);
@@ -450,6 +455,8 @@
         McpData.valA = calcTorqueToVoltage(torqueLow, RIGHT_MOTOR);
         McpData.valB = calcTorqueToVoltage(torqueHigh, LEFT_MOTOR);
     }
+    
+    pc.printf("%d %d\r\n", (int)McpData.valA, (int)McpData.valB);
 
     mcp.writeA(McpData.valA);   //右モーター
     mcp.writeB(McpData.valB);   //左モーター