Klagarge/SummerSchool2-Controller
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fix ramp

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This commit is contained in:
Rémi Heredero
2023-09-07 10:31:26 +02:00
parent 8d389cdea2
commit 5c555f6ee1
4 changed files with 9 additions and 3 deletions
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8
306-controller_interface.X/app/kartculator.c
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@@ -225,7 +225,9 @@ void calcTorque(uint8_t joy_pos) {
if(joy_pos >= 0) {
calcTorque = rampTorque[joy_pos];
} else {
calcTorque = -rampTorque[-joy_pos];
joy_pos *= -1;
calcTorque = rampTorque[joy_pos];
calcTorque *= -1;
}
calcTorque *= KART_CST.CONTROL_POWER_FACTOR; // convert by power factor
calcTorque /= 1000; // torque define by joystick
@@ -239,7 +241,9 @@ void calcPosition(uint8_t joy_pos){
if(joy_pos >= 0) {
calcPosition = rampPosition[joy_pos];
} else {
calcPosition = -rampPosition[-joy_pos];
joy_pos *= -1;
calcPosition = rampPosition[joy_pos];
rampPosition *= -1;
}
calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
calcPosition /= 1000;