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small fix

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This commit is contained in:
Thefeli73 2021-04-17 15:23:11 +02:00
parent 5f559bb895
commit bc7a9a6ec4
1 changed files with 1 additions and 2 deletions
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EENX15_LQR/EENX15_LQR.ino
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@ -150,8 +150,7 @@ void setSpeed(){
//speed = 8*safe_angle; //speed = 8*safe_angle;
float position_m = countA/174.76; float position_m = countA/174.76;
float angle_r = angle_pitch_output * 0.318; float angle_r = angle_pitch_output * 0.318;
speed = inputToControlSystem(position_m, angle_r); speed = 22 * inputToControlSystem(position_m, angle_r);
speed *= 22;
if(speed<0){ if(speed<0){
digitalWrite(MotorPinB, CW); digitalWrite(MotorPinB, CW);
digitalWrite(MotorPinA, CCW); digitalWrite(MotorPinA, CCW);