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:
35:b75595b1da36
Parent:
34:594ddb4008b2
Child:
36:dc33a3a194c9
diff -r 594ddb4008b2 -r b75595b1da36 TVDCTRL.cpp
--- a/TVDCTRL.cpp	Fri Aug 04 02:58:51 2017 +0000
+++ b/TVDCTRL.cpp	Thu Aug 17 06:01:28 2017 +0000
@@ -488,14 +488,14 @@
     float limitRate;
     float currentVelocity = getVelocity() * 3.6f;   //km/hで車速取得
 
-    if(currentVelocity < 1.0f)
+    if(currentVelocity < 5.0f)
         limitRate = 0.0f;
-    else if(currentVelocity < 5.0f)
-        limitRate = (currentVelocity - 1.0f) / (5.0f - 1.0f);
+    else if(currentVelocity < 15.0f)
+        limitRate = (currentVelocity - 5.0f) / (15.0f - 5.0f);
     else
         limitRate = 1.0f;
     
-    printf("rate:%1.3f\r\n", limitRate);
+    //printf("rate:%1.3f\r\n", limitRate);
     
     return limitRate;
 }
@@ -541,6 +541,7 @@
     //printf("%d\r\n", distributionTrq);
 
     //distributionTrq = 0;
+    disTrq_omega = 0;
 
     torqueRight = requestTorque + distributionTrq;
     torqueLeft = requestTorque - distributionTrq;
@@ -564,8 +565,11 @@
     McpData.valA = calcTorqueToVoltage(torqueRight, getRPS(RIGHT));
     McpData.valB = calcTorqueToVoltage(torqueLeft, getRPS(LEFT));
 
-    preMcpA = (unsigned int)(McpData.valA * 0.456 + preMcpA * 0.544);
-    preMcpB = (unsigned int)(McpData.valB * 0.456 + preMcpB * 0.544);
+//    preMcpA = (unsigned int)(McpData.valA * 0.456 + preMcpA * 0.544);
+//    preMcpB = (unsigned int)(McpData.valB * 0.456 + preMcpB * 0.544);
+
+    preMcpA = McpData.valA;
+    preMcpB = McpData.valB;
 
     mcp.writeA(preMcpA);   //右モーター
     mcp.writeB(preMcpB);   //左モーター