From 598575e57af94f4aa9b27827900f85283a5c73ec Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 16 Apr 2008 09:20:25 +0200 Subject: * digital/asserv/src/asserv: - fixed no movement when acceleration is smaller than 1. --- digital/asserv/src/asserv/speed.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'digital/asserv') diff --git a/digital/asserv/src/asserv/speed.c b/digital/asserv/src/asserv/speed.c index 679ce416..39da4f14 100644 --- a/digital/asserv/src/asserv/speed.c +++ b/digital/asserv/src/asserv/speed.c @@ -64,7 +64,7 @@ speed_compute_max_speed (int32_t d, int16_t cur, int16_t acc, int8_t max) int16_t s; /* Compute maximum speed in order to be able to brake in time. * s = sqrt (2 * a * d) */ - s = fixed_sqrt_ui32 (2 * (acc >> 8) * UTILS_ABS (d)); + s = fixed_sqrt_ui32 ((2 * UTILS_ABS (d) * acc) >> 8); /* Apply consign. */ s = UTILS_MIN (max, s); /* Apply sign. */ -- cgit v1.2.3