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IMPORTANT fixa linjariserings funktion

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This commit is contained in:
Thefeli73 2021-04-21 15:27:25 +02:00
parent 1ab859ec5a
commit a8d4620cac
1 changed files with 1 additions and 1 deletions
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EENX15_LQR/lqr_fullstate.ino
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@ -37,7 +37,7 @@ float calc_speed(float input) {
float scale = 1.5; float scale = 1.5;
input = abs(input)*0.30796; // scale down to rad/s (78,53/255) input = abs(input)*0.30796; // scale down to rad/s (78,53/255)
Serial.print("input: "); Serial.println(input); 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; result *= scale;
Serial.print("calcspeed: "); Serial.println(result); Serial.print("calcspeed: "); Serial.println(result);
return result; return result;