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-rw-r--r--digital/asserv/src/asserv/speed.c20
1 files changed, 14 insertions, 6 deletions
diff --git a/digital/asserv/src/asserv/speed.c b/digital/asserv/src/asserv/speed.c
index 5c221b7e..32102177 100644
--- a/digital/asserv/src/asserv/speed.c
+++ b/digital/asserv/src/asserv/speed.c
@@ -58,13 +58,21 @@ speed_init (void)
static void
speed_update_by_speed (struct speed_t *speed)
{
- /* Update current speed. */
- if (UTILS_ABS (speed->cons - speed->cur) < speed->acc)
- speed->cur = speed->cons;
- else if (speed->cons > speed->cur)
- speed->cur += speed->acc;
+ /* Update current speed (be careful of overflow!). */
+ if (speed->cons > speed->cur)
+ {
+ if ((uint16_t) (speed->cons - speed->cur) < (uint16_t) speed->acc)
+ speed->cur = speed->cons;
+ else
+ speed->cur += speed->acc;
+ }
else
- speed->cur -= speed->acc;
+ {
+ if ((uint16_t) (speed->cur - speed->cons) < (uint16_t) speed->acc)
+ speed->cur = speed->cons;
+ else
+ speed->cur -= speed->acc;
+ }
}
/** Compute maximum allowed speed according to: distance left, maximum speed,