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:
11:88701a5e7eae
Parent:
10:87ad65eef0e9
Child:
12:ae291fa7239c
diff -r 87ad65eef0e9 -r 88701a5e7eae TVDCTRL.cpp
--- a/TVDCTRL.cpp	Sat Aug 06 05:39:00 2016 +0000
+++ b/TVDCTRL.cpp	Sat Aug 06 05:56:18 2016 +0000
@@ -323,6 +323,8 @@
     int outputVoltage=0;
     int rpm=0;
     int currentMaxTorque=0;
+    
+    int preOutputVol=0;
 
     if(torque <= LINEAR_REGION_TORQUE) {         //要求トルク<=2.5Nmの時
         outputVoltage = (int)((double)(LINEAR_REGION_VOLTAGE-DACOUTPUT_MIN)/LINEAR_REGION_TORQUE * torque);
@@ -350,8 +352,10 @@
     }
 
     outputVoltage += DACOUTPUT_MIN;   //最低入力電圧でかさ上げ
+    
+    preOutputVol = (int)(outputVoltage*0.05 + preOutputVol*0.95);
 
-    return (unsigned int)(0xFFF*((double)outputVoltage/0xFFFF));  //DACの分解能に適応(16bit->12bit)
+    return (unsigned int)(0xFFF*((double)preOutputVol/0xFFFF));  //DACの分解能に適応(16bit->12bit)
 }
 
 int calcRequestTorque(void)
@@ -383,7 +387,7 @@
     int requestTorque=0;    //ドライバー要求トルク
     int distributionTrq=0;  //分配トルク
     int torqueHigh, torqueLow;    //トルクの大きい方小さい方
-
+    
     loadSensors();      //APS,BRAKE更新
     loadSteerAngle();   //舵角更新
     //getPulseTime(RIGHT_MOTOR);  //車速更新(更新時は片方指定コールでOK)