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Fixed bug in motor windup calculation

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Stedd 2023-10-22 12:04:25 +02:00
parent 26955c1c12
commit 800fb1876e
2 changed files with 1 additions and 1 deletions
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Spreadsheets/MotorSaturation_Bug.ods Normal file
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motorControl.ino
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@ -169,7 +169,7 @@ float motorControl(byte motorID, int speedCMD_, int saturation, float dbPos_, fl
windup = saturation - speedCMD_; windup = saturation - speedCMD_;
speedCMD_ = saturation; speedCMD_ = saturation;
} else if (speedCMD_ < -saturation) { } else if (speedCMD_ < -saturation) {
windup = saturation - speedCMD_; windup = -saturation - speedCMD_;
speedCMD_ = -saturation; speedCMD_ = -saturation;
} }