EFeru/hoverboard-firmware-hack-SIN
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Moved cmd bypasses before the motor enabling

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EmanuelFeru
2019-06-18 18:48:13 +02:00
parent 285f65b4a6
commit 102eae5e62
1 changed files with 4 additions and 4 deletions
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8
Src/main.c
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@ -263,15 +263,15 @@ int main(void) {
timeout = 0; timeout = 0;
#endif #endif
// Bypass - only for testing purposes
// cmd1 = cmd1-500;
// cmd2 = cmd2-500;
// ####### MOTOR ENABLING: Only if the initial input is very small (SAFETY) ####### // ####### MOTOR ENABLING: Only if the initial input is very small (SAFETY) #######
if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){ if (enable == 0 && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
enable = 1; // enable motors enable = 1; // enable motors
} }
// Bypass - only for testing purposes
// cmd2 = cmd2-500;
// cmd1 = 0;
// ####### LOW-PASS FILTER ####### // ####### LOW-PASS FILTER #######
steer = (int)(steer * (1.0f - FILTER) + cmd1 * FILTER); steer = (int)(steer * (1.0f - FILTER) + cmd1 * FILTER);
speed = (int)(speed * (1.0f - FILTER) + cmd2 * FILTER); speed = (int)(speed * (1.0f - FILTER) + cmd2 * FILTER);