schulze/EENX15
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round angles before inting

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This commit is contained in:
Thefeli73 2021-04-13 21:51:58 +02:00
parent 7b49d8974c
commit f12389b570
1 changed files with 3 additions and 3 deletions
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6
EENX15_LQR/EENX15_LQR.ino
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@ -95,7 +95,7 @@ void loop() {
if(temp_loops>100){ if(temp_loops>100){
Serial.println(""); Serial.println("");
Serial.print(" pitch Angle = "); Serial.println(angle_pitch_output); 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); Serial.print(" pitch Angle measured = "); Serial.println(angle_pitch);
temp_loops = 0; temp_loops = 0;
} }
@ -115,8 +115,8 @@ void loop() {
digitalWrite(MotorPinA, CW); digitalWrite(MotorPinA, CW);
} }
if((abs(int(angle_pitch_output))*8 + 30)<250){ if((abs(int(angle_pitch_output))*8 + 30)<250){
analogWrite(MotorSpeedB,30 + 8*abs(int(angle_pitch_output))); //Wheel close to connections analogWrite(MotorSpeedB,30 + 8*abs(int(round(angle_pitch_output)))); //Wheel close to connections
analogWrite(MotorSpeedA,30 + 8*abs(int(angle_pitch_output))); //First experiment wheel analogWrite(MotorSpeedA,30 + 8*abs(int(round(angle_pitch_output)))); //First experiment wheel
} }
else{ else{
analogWrite(MotorSpeedB,250); //Wheel close to connections analogWrite(MotorSpeedB,250); //Wheel close to connections