interfisch
/
hoverboard-firmware-hack-foc-serial-esc
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix speed calculation. should fix low voltage poweroff while driving

This commit is contained in:
interfisch 2020-01-02 19:36:11 +01:00
parent b1e6d9e995
commit 5f063a0bb6
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Src/main.c
View File

@ -408,7 +408,7 @@ int main(void) {
speedL = speedLeftFixdt >> 4; // convert fixed-point to integer speedL = speedLeftFixdt >> 4; // convert fixed-point to integer
speedR = speedRightFixdt >> 4; // convert fixed-point to integer speedR = speedRightFixdt >> 4; // convert fixed-point to integer
speed = (speedL+speedR)/2; speed = (abs(speedL)+abs(speedR))/2;
// ####### MIXER ####### // ####### MIXER #######
// speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), -1000, 1000); // speedR = CLAMP((int)(speed * SPEED_COEFFICIENT - steer * STEER_COEFFICIENT), -1000, 1000);