From a8d4620cac3ab3f5c94a1838c55619438dbd34cc Mon Sep 17 00:00:00 2001
From: Thefeli73 <thefeli73@hotmail.com>
Date: Wed, 21 Apr 2021 15:27:25 +0200
Subject: [PATCH] IMPORTANT fixa linjariserings funktion

---
 EENX15_LQR/lqr_fullstate.ino | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EENX15_LQR/lqr_fullstate.ino b/EENX15_LQR/lqr_fullstate.ino
index 59e0f0a..e21dc72 100644
--- a/EENX15_LQR/lqr_fullstate.ino
+++ b/EENX15_LQR/lqr_fullstate.ino
@@ -37,7 +37,7 @@ float calc_speed(float input) {
   float scale = 1.5;
   input = abs(input)*0.30796; // scale down to rad/s (78,53/255)
   Serial.print("input: "); Serial.println(input); 
-  float result = pow((3145.84/(90.75 - input)),1.00715); // break out x from response graph
+  float result = 3145.84/(pow((90.75 - input),1.00715)); // break out x from response graph
   result *= scale;
   Serial.print("calcspeed: "); Serial.println(result); 
   return result;