From fb29b57fece6c53492aca06931ca866dd8e0b1d2 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 28 Apr 2008 15:31:01 +0200 Subject: * digital/asserv/src/asserv: - added generic system for different deadzones per PWM. - cleaned up pwm setting. --- digital/asserv/src/asserv/simu.host.c | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) (limited to 'digital/asserv/src/asserv/simu.host.c') 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 -- cgit v1.2.3