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:
29:a51cb2cf22ae
Parent:
28:47e9531a3a9d
Child:
30:c596a0f5d685
diff -r 47e9531a3a9d -r a51cb2cf22ae TVDCTRL.cpp
--- a/TVDCTRL.cpp	Mon Jul 03 12:03:34 2017 +0000
+++ b/TVDCTRL.cpp	Sat Jul 08 06:20:29 2017 +0000
@@ -306,17 +306,18 @@
     static float lastSteering=0.0f;
     float omega=0;
     int disTrq=0;
+    
+    steering = ratioLPF * steering + (1.0f - ratioLPF) * lastSteering;
 
     omega = lastSteering - steering;    //舵角の差分算出
-
     omega /= 0.01f;  //制御周期で角速度演算
 
     if(myAbs(omega) < 0.349f) { //20deg/s
         disTrq = 0;
     } else if(myAbs(omega) <= 8.727f) { //500deg/s
-        disTrq = (int)((0xFFFF/45.0f * 10.0f) / (8.727f-0.349f) * (myAbs(omega) - 0.349f));
+        disTrq = (int)((0xFFFF/45.0f * 5.0f) / (8.727f-0.349f) * (myAbs(omega) - 0.349f));
     } else
-        disTrq = (int)(0xFFFF/45.0f * 10.0f);
+        disTrq = (int)(0xFFFF/45.0f * 5.0f);
 
     lastSteering = steering;