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:
13:6dc51981f391
Parent:
12:ae291fa7239c
Child:
14:7cc98e159c6e
diff -r ae291fa7239c -r 6dc51981f391 TVDCTRL.cpp
--- a/TVDCTRL.cpp	Sun Aug 07 15:23:01 2016 +0000
+++ b/TVDCTRL.cpp	Tue Aug 09 06:10:35 2016 +0000
@@ -308,13 +308,13 @@
 int distributeTorque(float steering)
 {
     int disTrq = 0;
-    const double deadband = (M_PI/180.0)*5.0;
+    const float deadband = (M_PI/180.0f)*5.0f;
 
     if(steering < deadband)
         disTrq = 0;
     else {
         steering -= deadband;
-        disTrq = (MAX_DISTRIBUTION_TORQUE / (M_PI - deadband)) * steering;
+        disTrq = (int)((MAX_DISTRIBUTION_TORQUE / (M_PI - deadband)) * steering);
     }
 
     return disTrq;
@@ -359,7 +359,7 @@
 
     outputVoltage += DACOUTPUT_MIN;   //最低入力電圧でかさ上げ
 
-    preOutputVol = (int)(outputVoltage*0.003 + preOutputVol*0.997);
+    preOutputVol = (int)(outputVoltage*0.01 + preOutputVol*0.99);
 
     return (unsigned int)(0xFFF*((double)preOutputVol/0xFFFF));  //DACの分解能に適応(16bit->12bit)
 }
@@ -428,7 +428,7 @@
     distributionTrq /= 2.0;
 
     //デバッグ中
-    distributionTrq = 0;
+    //distributionTrq = 0;
 
     if(requestTorque + distributionTrq > MAX_OUTPUT_TORQUE)  //片モーター上限時最大値にクリップ
         torqueHigh = MAX_OUTPUT_TORQUE;