From f12389b5701837a614105c89267a7cf83bf0001e Mon Sep 17 00:00:00 2001 From: Thefeli73 Date: Tue, 13 Apr 2021 21:51:58 +0200 Subject: [PATCH] round angles before inting --- EENX15_LQR/EENX15_LQR.ino | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/EENX15_LQR/EENX15_LQR.ino b/EENX15_LQR/EENX15_LQR.ino index 103efc1..2afe392 100644 --- a/EENX15_LQR/EENX15_LQR.ino +++ b/EENX15_LQR/EENX15_LQR.ino @@ -95,7 +95,7 @@ void loop() { if(temp_loops>100){ Serial.println(""); Serial.print(" pitch Angle = "); Serial.println(angle_pitch_output); - Serial.print(" pitch Angle abs = "); Serial.println(abs(int(angle_pitch_output))); + Serial.print(" pitch Angle abs = "); Serial.println(abs(int(round(angle_pitch_output)))); Serial.print(" pitch Angle measured = "); Serial.println(angle_pitch); temp_loops = 0; } @@ -115,8 +115,8 @@ void loop() { digitalWrite(MotorPinA, CW); } if((abs(int(angle_pitch_output))*8 + 30)<250){ - analogWrite(MotorSpeedB,30 + 8*abs(int(angle_pitch_output))); //Wheel close to connections - analogWrite(MotorSpeedA,30 + 8*abs(int(angle_pitch_output))); //First experiment wheel + analogWrite(MotorSpeedB,30 + 8*abs(int(round(angle_pitch_output)))); //Wheel close to connections + analogWrite(MotorSpeedA,30 + 8*abs(int(round(angle_pitch_output)))); //First experiment wheel } else{ analogWrite(MotorSpeedB,250); //Wheel close to connections