Revision ff7ad65b components/MotorControl.cpp
components/MotorControl.cpp | ||
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434 | 434 |
chprintf((BaseSequentialStream*)&SD1, "dGain %f\n", this->dGain ); |
435 | 435 |
} |
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void MotorControl::resetGains() |
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{ |
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// reset factors |
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chSysLock(); |
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this->motorCalibrationFactor = 1.0f; |
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this->pGain = 1000; |
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this->iGain = 0.08f; |
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this->dGain = 0.01f; |
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chSysUnlock(); |
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// write reset factors to memory |
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this->memory->setwheelfactor(this->motorCalibrationFactor); |
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this->memory->setpGain(this->pGain); |
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this->memory->setiGain(this->iGain); |
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this->memory->setdGain(this->dGain); |
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return; |
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} |
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void MotorControl::calcVelocity() { |
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