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Disable motor control max ramp rate

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master
Tom Wilson 4 years ago
parent 84402a1614
commit 7143f1a5a8
1 changed files with 5 additions and 5 deletions
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10
src/motor-esp32/motor_control.cpp
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@ -69,11 +69,11 @@ static void motor_control_task(void *pvParameters) {
(m_param.kd * d_error) + m_param.op_offset;
// Clip duty correction to the maximum allowed ramp
if ((m_status[m_id].duty - old_motor_duty) > (MAX_DUTY_RAMP * MC_ITERATION_TIME)) {
m_status[m_id].duty = old_motor_duty + (MAX_DUTY_RAMP * MC_ITERATION_TIME);
} else if ((m_status[m_id].duty - old_motor_duty) < (MAX_DUTY_RAMP * MC_ITERATION_TIME)) {
m_status[m_id].duty = old_motor_duty - (MAX_DUTY_RAMP * MC_ITERATION_TIME);
}
//if ((m_status[m_id].duty - old_motor_duty) > (MAX_DUTY_RAMP * MC_ITERATION_TIME)) {
// m_status[m_id].duty = old_motor_duty + (MAX_DUTY_RAMP * MC_ITERATION_TIME);
//} else if ((m_status[m_id].duty - old_motor_duty) < (MAX_DUTY_RAMP * MC_ITERATION_TIME)) {
// m_status[m_id].duty = old_motor_duty - (MAX_DUTY_RAMP * MC_ITERATION_TIME);
//}
// Clip motor duty output if it's saturated
// Only add to the integrated error accumulator if we're not saturated (anti-windup), or the change

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