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:
4:d7778cde0aff
Parent:
3:821e2f07a260
Child:
5:a5462959b3ab
diff -r 821e2f07a260 -r d7778cde0aff TVDCTRL.cpp
--- a/TVDCTRL.cpp	Sun Jul 24 08:02:18 2016 +0000
+++ b/TVDCTRL.cpp	Sun Jul 24 08:23:56 2016 +0000
@@ -211,7 +211,7 @@
     //Do not use "printf" in interrupt!!!
     static int preTime=0;
     int currentTime = RightPulseTimer.read_us();
-    
+
     gRightPulseTime = currentTime - preTime;
 
     if(gRightPulseTime < 40)  //25000rpm上限より早い場合
@@ -334,7 +334,7 @@
     } else {
         pulseTime = getPulseTime(rl);
         rpm = (int)((1.0/pulseTime) * 1000000.0 * 60.0);  //pulseTime:[ms]
-        
+
         if(rpm < 3000) {        //3000rpm未満は回転数による出力制限がない領域
             outputVoltage = interpolateLinear(torque, MAX_MOTOR_TORQUE);
             //outputVoltage = (int)((DACOUTPUT_MAX-LINEAR_REGION_VOLTAGE)/(MAX_MOTOR_TORQUE-LINEAR_REGION_TORQUE) * torque) + LINEAR_REGION_VOLTAGE;
@@ -355,7 +355,7 @@
                 //outputVoltage = (int)((float)(DACOUTPUT_MAX-LINEAR_REGION_VOLTAGE)/(MAX_REVOLUTION_TORQUE-LINEAR_REGION_TORQUE) * torque) + LINEAR_REGION_VOLTAGE;
             }
         } else {
-            outputVoltage = 0;  //回転上限のため出力停止
+            //outputVoltage = 0;  //回転上限のため出力停止
         }
     }
 
@@ -400,10 +400,10 @@
 
     distributionTor = distributeTorque(getVelocity(), MAX_STEER_ANGLE / M_PI * getSteerAngle());  //トルク分配量計算
     distributionTor /= 2.0f;
-    
+
     //デバッグ終わったらこの行は消すこと!!!!!
     distributionTor=0;
-    
+
     if(requestTorque + distributionTor > MAX_OUTPUT_TORQUE)  //片モーター上限時最大値にクリップ
         torqueHigh = MAX_OUTPUT_TORQUE;
     else