From 1eddebad686d3e290f4eea195b2cd1637ae10fb9 Mon Sep 17 00:00:00 2001 From: schodet Date: Wed, 4 May 2005 09:37:58 +0000 Subject: bugfix. --- n/asserv/src/speed.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'n/asserv/src/speed.c') 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; -- cgit v1.2.3