2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Diff: TVDCTRL.cpp

Revision:
58:ac3d182732c9
Parent:
57:02b7178cd083
Child:
59:7fdf1168c5c3
--- a/TVDCTRL.cpp	Tue Jan 09 06:14:28 2018 +0000
+++ b/TVDCTRL.cpp	Tue Jan 09 10:09:01 2018 +0000
@@ -685,7 +685,7 @@
         e[rlFlag][1] = e[rlFlag][0];
     }
 
-    printf("%f %f\r\n", e[0][0], e[1][0]);
+//    printf("%f %f\r\n", e[0][0], e[1][0]);
 
     outputTrq[0] = myMin(reqMotorTrq[0], lastMotorTrq[0]);      //ちっさい方を出力トルクとして採用
     outputTrq[1] = myMin(reqMotorTrq[1], lastMotorTrq[1]);      //ちっさい方を出力トルクとして採用
@@ -693,8 +693,8 @@
     for (int rlFlag = 0; rlFlag < 2; rlFlag++) {
         if(outputTrq[rlFlag] > 45.0)
             outputTrq[rlFlag] = 45.0;
-        if(outputTrq[rlFlag] < 0.0)
-            outputTrq[rlFlag] = 0.0;
+        if(outputTrq[rlFlag] < -10.0)
+            outputTrq[rlFlag] = -10.0;
     }
 
     if(myAbs(e[0][0]) > myAbs(e[1][1])) {                       //右輪の空転が大きい場合