From b4cc590cc0bbae83b82c30427b0c869ee04eed53 Mon Sep 17 00:00:00 2001
From: Thefeli73 <thefeli73@hotmail.com>
Date: Wed, 12 May 2021 19:18:04 +0200
Subject: [PATCH] =?UTF-8?q?sm=C3=A5fixes,=20kanske=20inte=20l=C3=A4ngre=20?=
 =?UTF-8?q?blir=200=3F?=
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---
 EENX15_LQR/EENX15_LQR.ino | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/EENX15_LQR/EENX15_LQR.ino b/EENX15_LQR/EENX15_LQR.ino
index b76c5cc..e1eb571 100644
--- a/EENX15_LQR/EENX15_LQR.ino
+++ b/EENX15_LQR/EENX15_LQR.ino
@@ -23,7 +23,7 @@ float motorAngularSpeed = 0;
 
 /** PWM signal applied to the motor's driver 255 is 100% */
 int speed;
-int Va;
+float Va;
 int safe_angle;
 float force;
 int PWM;
@@ -187,7 +187,12 @@ void setSpeed(){
     else {
       force = 0;
     }
-    if(force!=0){Va = calc_speed(force, angle_speed_rs); }
+    if(force!=0){
+		Va = calc_speed(force, angle_speed_rs);
+	}
+	else {
+		Va = 0;
+	}
     Va = abs(Va);
     PWM = 255*Va/12;
     PWM = constrain(PWM, 0, 255);