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:
23:ee53d2658801
Parent:
22:95c1f753ecad
Child:
24:1de0291bc5eb
--- a/TVDCTRL.cpp	Fri Nov 11 04:50:56 2016 +0000
+++ b/TVDCTRL.cpp	Tue May 30 03:31:27 2017 +0000
@@ -312,9 +312,9 @@
     if(myAbs(omega) < 0.349f) { //20deg/s
         disTrq = 0;
     } else if(myAbs(omega) <= 8.727f) { //500deg/s
-        disTrq = (int)((0xFFFF/45.0f * 5.0f) / (8.727f-0.349f) * (myAbs(omega) - 0.349f));
+        disTrq = (int)((0xFFFF/45.0f * 10.0f) / (8.727f-0.349f) * (myAbs(omega) - 0.349f));
     } else
-        disTrq = (int)(0xFFFF/45.0f * 5.0f);
+        disTrq = (int)(0xFFFF/45.0f * 10.0f);
 
     lastSteering = steering;
 
@@ -520,7 +520,7 @@
         }
     }
 
-    //printf("%d %d\r\n", torqueLow, torqueHigh);
+    //printf("%d %d %f\r\n", torqueRight, torqueLeft, getSteerAngle());
 
     McpData.valA = calcTorqueToVoltage(torqueRight, RIGHT_MOTOR);
     McpData.valB = calcTorqueToVoltage(torqueLeft, LEFT_MOTOR);