From 800fb1876e513f474b544ef103ec0e2c8adae761 Mon Sep 17 00:00:00 2001 From: Stedd Date: Sun, 22 Oct 2023 12:04:25 +0200 Subject: [PATCH] Fixed bug in motor windup calculation --- Spreadsheets/MotorSaturation_Bug.ods | Bin 0 -> 16493 bytes motorControl.ino | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 Spreadsheets/MotorSaturation_Bug.ods diff --git a/Spreadsheets/MotorSaturation_Bug.ods b/Spreadsheets/MotorSaturation_Bug.ods new file mode 100644 index 0000000000000000000000000000000000000000..e256e3a2597025a06c8713c4fedaf07d069d7443 GIT binary patch literal 16493 zcmb7r1ymhd(k|{09D=(B2u^T!cXxMp2<`-Tw}ZR8OK^85xVyt6^S?WHX8wEUtygFD zI=g#yeY>i-0J$ttS^T7CtanvUa3(u(dbRGjuRDGIEstH_Q*1e+t$| zOTfn3*v!Pq{vT)#40N_OwobMm5KeS|uZQ^;dcRfl_3ZzP7S3O2+1lHf*c&-G{CCa2 z>d(=}#`3>w{grnPj(Uzx|Bv4A|H4i)D?Jk<2ReQ;M=L#BhyUW_UzuubX`|<8^xs1B zSEl}U&{ogd$nwAR_E#a*GcYi+H2S!nHh=U81qJnw+v&rve+t}3%SzAM%-G1mk=EYO zcr0$r+W#wJz&U52(fA@S9XPl>#c;EERu^-SDmdL$D)M^Ak2qzy{F0-r*_{eu#*H6! 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zeE+@oKlT2nmg>*_h`+%3lk@xcD8DJHe@f3s^M6_MZyeyiNBUjc^{2diH2)LnPfqaP zqx^ex7(TATf1>;=NBHk?ezS!C6!X8p`CpvjzX$tw*M9Ri{?n*GImCaD^6###{RPUu za*F>R=ie_G8p!{)=HEHS|AX|$!11pH+TYpCpCa>t^v}`bgLC}HP5g)EzY>#vSLyvJ zKR!zI{-oRfr{2GEUVhV-{uJ8}m=DVQKS)gfsr9b~g}?bQe~Q$H*#>{IWByS5yL!Vv z70EFEzWVSFls}yP*OB+%!?e%*?{ER*Z Kohy#td;bTD$oyph literal 0 HcmV?d00001 diff --git a/motorControl.ino b/motorControl.ino index 6b24aca..736d6f3 100644 --- a/motorControl.ino +++ b/motorControl.ino @@ -169,7 +169,7 @@ float motorControl(byte motorID, int speedCMD_, int saturation, float dbPos_, fl windup = saturation - speedCMD_; speedCMD_ = saturation; } else if (speedCMD_ < -saturation) { - windup = saturation - speedCMD_; + windup = -saturation - speedCMD_; speedCMD_ = -saturation; }