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småfixes, kanske inte längre blir 0?

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This commit is contained in:
Thefeli73 2021-05-12 19:18:04 +02:00
parent 487837cffa
commit b4cc590cc0
1 changed files with 7 additions and 2 deletions
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9
EENX15_LQR/EENX15_LQR.ino
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@ -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);