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authorNicolas Schodet2008-04-28 15:31:01 +0200
committerNicolas Schodet2008-04-28 15:31:01 +0200
commitfb29b57fece6c53492aca06931ca866dd8e0b1d2 (patch)
tree731212aef03ff03ed6d7248be68e55e4574e7d12 /digital/asserv/src/asserv/simu.host.c
parent10c53c6c72a90e0767e34d325a846469c08aae0e (diff)
* digital/asserv/src/asserv:
- added generic system for different deadzones per PWM. - cleaned up pwm setting.
Diffstat (limited to 'digital/asserv/src/asserv/simu.host.c')
-rw-r--r--digital/asserv/src/asserv/simu.host.c9
1 files changed, 6 insertions, 3 deletions
diff --git a/digital/asserv/src/asserv/simu.host.c b/digital/asserv/src/asserv/simu.host.c
index 64fc38db..795ee6a7 100644
--- a/digital/asserv/src/asserv/simu.host.c
+++ b/digital/asserv/src/asserv/simu.host.c
@@ -167,9 +167,12 @@ simu_step (void)
{
double old_left_th, old_right_th, old_aux0_th;
/* Convert pwm value into voltage. */
- assert (pwm_left >= -PWM_MAX && pwm_left <= PWM_MAX);
- assert (pwm_right >= -PWM_MAX && pwm_right <= PWM_MAX);
- assert (pwm_aux0 >= -PWM_MAX && pwm_aux0 <= PWM_MAX);
+ assert (pwm_left >= -PWM_MAX_FOR (pwm_left)
+ && pwm_left <= PWM_MAX_FOR (pwm_left));
+ assert (pwm_right >= -PWM_MAX_FOR (pwm_right)
+ && pwm_right <= PWM_MAX_FOR (pwm_right));
+ assert (pwm_aux0 >= -PWM_MAX_FOR (pwm_aux0)
+ && pwm_aux0 <= PWM_MAX_FOR (pwm_aux0));
simu_left_model.u = simu_left_model.m.u_max
* ((double) pwm_left / (PWM_MAX + 1));
simu_right_model.u = simu_right_model.m.u_max