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Diffstat (limited to 'n/asserv/src/speed.c')
-rw-r--r--n/asserv/src/speed.c4
1 files changed, 2 insertions, 2 deletions
diff --git a/n/asserv/src/speed.c b/n/asserv/src/speed.c
index dd326a6..33a403c 100644
--- a/n/asserv/src/speed.c
+++ b/n/asserv/src/speed.c
@@ -42,7 +42,7 @@ uint16_t speed_left_kp = 0x0fff, speed_right_kp = 0x0fff;
/** I coeficients. 3.8 fixed point format. */
uint16_t speed_left_ki = 0x0008, speed_right_ki = 0x0008;
/** D coeficients. 3.8 fixed point format. */
-uint16_t speed_left_kd = 0x0fff, speed_right_kd = 0x0fff;
+uint16_t speed_left_kd = 0x0002, speed_right_kd = 0x0002;
/** D sample period. */
uint8_t speed_ds = 2;
/** Integral term. */
@@ -286,7 +286,7 @@ speed_distance_lr (int32_t left, int32_t right)
vr248 = dsp_sqrt_f248 (right * 2 / speed_acc);
vr = (vr248 >> 8) & 0xff;
/* Saturate. */
- if (vls != vrs)
+ if (vls == vrs)
max = speed_max_l;
else
max = speed_max_a;