Revision 29943713
| components/MotorControl.cpp | ||
|---|---|---|
| 314 | 314 |
|
| 315 | 315 |
//pgain ##################################### |
| 316 | 316 |
chSysLock(); |
| 317 |
int diffv =this->targetVelocity.x - this->currentVelocity.x; |
|
| 318 |
int diffw = this->targetVelocity.w_z - this->currentVelocity.w_z; |
|
| 317 |
|
|
| 318 |
int diffv = motorEnable ? this->targetVelocity.x - this->currentVelocity.x : 0; |
|
| 319 |
int diffw = motorEnable ? this->targetVelocity.w_z - this->currentVelocity.w_z: 0; |
|
| 319 | 320 |
chSysUnlock(); |
| 320 | 321 |
|
| 321 | 322 |
//igain #################################### |
| ... | ... | |
| 534 | 535 |
} |
| 535 | 536 |
|
| 536 | 537 |
for (int idxPWM = 0; idxPWM < 2; idxPWM++) |
| 537 |
pwmEnableChannel(this->pwmDriver, (idxWheel * 2) + idxPWM, motorEnable ? widths[idxPWM] : 0);
|
|
| 538 |
pwmEnableChannel(this->pwmDriver, (idxWheel * 2) + idxPWM,widths[idxPWM]);
|
|
| 538 | 539 |
} |
| 539 | 540 |
} |
| 540 | 541 |
|
| ... | ... | |
| 559 | 560 |
} |
| 560 | 561 |
|
| 561 | 562 |
bool MotorControl::getMotorEnable(){
|
| 563 |
|
|
| 562 | 564 |
return this->motorEnable; |
| 563 | 565 |
} |
| 564 | 566 |
|
| 565 | 567 |
void MotorControl::toggleMotorEnable(){
|
| 568 |
this->accumulatedErrorV = 0; |
|
| 569 |
this->accumulatedErrorW = 0; |
|
| 566 | 570 |
this->motorEnable = !this->motorEnable; |
| 567 | 571 |
} |
Also available in: Unified diff