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Servo and throttle hyst fixes

This commit is contained in:
Benjamin Vedder 2014-04-02 21:51:12 +02:00
parent 2bf95ae27f
commit 099e2cdf45
1 changed files with 7 additions and 4 deletions
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11
main.c
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@ -114,6 +114,8 @@ static msg_t periodic_thread(void *arg) {
// Use decoded servo inputs
if (servodec_get_time_since_update() < 500 && mcpwm_get_duty_cycle_now() > -0.01) {
float servo_val = (float)servodec_get_servo(0) / 128.0;
servo_val /= (1.0 - HYST);
if (servo_val > HYST) {
servo_val -= HYST;
mcpwm_set_current(servo_val * CURR_FACT);
@ -130,16 +132,17 @@ static msg_t periodic_thread(void *arg) {
// Gurgalof bicycle-throttle
#if USE_THROTTLE_ADC
#define MIN_PWR 0.24
#define MIN_PWR 0.2
float pwr = (float)ADC_Value[ADC_IND_EXT];
pwr /= 4095.0;
pwr /= (1.0 - MIN_PWR);
pwr -= MIN_PWR;
if (pwr < MIN_PWR) {
mcpwm_use_pid(0);
if (pwr < 0.0) {
mcpwm_set_duty(0.0);
} else {
mcpwm_use_pid(0);
mcpwm_set_duty(pwr);
// mcpwm_set_current(pwr * 40.0);
}
#endif
if (mcpwm_get_state() == MC_STATE_DETECTING) {