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Fixed a bug in LeftMotorAngular velocity calculation

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Stedd 2023-10-22 02:06:40 +02:00
parent 6a03848435
commit 3a680f84c8
1 changed files with 1 additions and 1 deletions
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2
motorControl.ino
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@ -68,7 +68,7 @@ void motors() {
if (balancingOn) { if (balancingOn) {
//Calculate wheel angular velocity //Calculate wheel angular velocity
motor_ang_vel[0][0] = encoderReaderAngVel(m1Raw, m1RawLast, motor_ang_vel[1][0], PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain); motor_ang_vel[0][0] = encoderReaderAngVel(m1Raw, m1RawLast, motor_ang_vel[0][0], PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain);
motor_ang_vel[1][0] = encoderReaderAngVel(m2Raw, m2RawLast, motor_ang_vel[1][0], PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain); motor_ang_vel[1][0] = encoderReaderAngVel(m2Raw, m2RawLast, motor_ang_vel[1][0], PULSES_PER_TURN, WHEEL_DIAMETER, dT_s, filter_gain);