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Diffstat (limited to 'n/asserv/src/asserv/simu.host.c')
-rw-r--r--n/asserv/src/asserv/simu.host.c4
1 files changed, 2 insertions, 2 deletions
diff --git a/n/asserv/src/asserv/simu.host.c b/n/asserv/src/asserv/simu.host.c
index e7cc4ee..1035af1 100644
--- a/n/asserv/src/asserv/simu.host.c
+++ b/n/asserv/src/asserv/simu.host.c
@@ -80,8 +80,8 @@ simu_step (void)
/* Convert pwm value into voltage. */
assert (pwm_left >= -PWM_MAX && pwm_left <= PWM_MAX);
assert (pwm_right >= -PWM_MAX && pwm_right <= PWM_MAX);
- simu_left_model.u = (double) pwm_left / PWM_MAX;
- simu_right_model.u = (double) pwm_right / PWM_MAX;
+ simu_left_model.u = (double) (pwm_left + 1) / (PWM_MAX + 1);
+ simu_right_model.u = (double) (pwm_right + 1) / (PWM_MAX + 1);
/* Make one step. */
old_left_th = simu_left_model.th;
old_right_th = simu_right_model.th;