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:
33:8bebba17a749
Parent:
32:9688c30ac38b
Child:
34:594ddb4008b2
diff -r 9688c30ac38b -r 8bebba17a749 TVDCTRL.cpp
--- a/TVDCTRL.cpp	Thu Jul 27 15:29:22 2017 +0000
+++ b/TVDCTRL.cpp	Thu Jul 27 15:37:59 2017 +0000
@@ -537,7 +537,7 @@
     //disTrq_omega = (int)(distributeTorque_omega(M_PI * getSteerAngle() / 127.0f) / 2.0);      //微分制御
     //distributionTrq = (int)(distributionTrq * limitTorqueDistribution());     //トルク配分の最低車速制限
 
-    distributionTrq = 100;
+    distributionTrq = 0;
 
     torqueRight = requestTorque + distributionTrq;
     torqueLeft = requestTorque - distributionTrq;
@@ -555,8 +555,6 @@
         torqueLeft = requestTorque - (MAX_OUTPUT_TORQUE_POWER-requestTorque);
     }
     
-    printf("%d %d\r\n", torqueRight, torqueLeft);
-
     McpData.valA = calcTorqueToVoltage(torqueRight, getRPS(RIGHT));
     McpData.valB = calcTorqueToVoltage(torqueLeft, getRPS(LEFT));