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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 cb8f2db..54962b3 100644
--- a/n/asserv/src/speed.c
+++ b/n/asserv/src/speed.c
@@ -116,7 +116,7 @@ speed_compute_left_pwm (void)
speed_left_int += e; /* 12b = 11b + 10b */
if (speed_left_int > speed_int_max) /* 11b */
speed_left_int = speed_int_max;
- else if (speed_left_int < -speed_left_int)
+ else if (speed_left_int < -speed_int_max)
speed_left_int = -speed_int_max;
/* Compute PI. */ /* 16b = 15b + 15b */
pwm = dsp_mul_i16f88 (e, speed_kp) /* 15b = 10b * 5.8b */
@@ -137,7 +137,7 @@ speed_compute_right_pwm (void)
speed_right_int += e;
if (speed_right_int > speed_int_max)
speed_right_int = speed_int_max;
- else if (speed_right_int < -speed_right_int)
+ else if (speed_right_int < -speed_int_max)
speed_right_int = -speed_int_max;
/* Compute PI. */
pwm = dsp_mul_i16f88 (e, speed_kp)