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Fix bug: fade stuck at zero; Adjust fade durations

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- Fix bug where case duty=0 was not handled in fading if structure thus no
incrementing action happened anymore (stuck at duty = 0)

- Set fade duration (acceleration, deceleration) to realistic value in
config
This commit is contained in:
jonny_l480 2022-07-22 20:11:12 +02:00
parent 0a2695f45f
commit bcbd2578f6
2 changed files with 4 additions and 5 deletions
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4
main/config.cpp
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@ -29,8 +29,8 @@ single100a_config_t configDriverRight = {
//--- configure motor contol ---
motorctl_config_t configMotorControl = {
.msFadeAccel = 5000, //acceleration of the motor (ms it takes from 0% to 100%)
.msFadeDecel = 3000, //deceleration of the motor (ms it takes from 100% to 0%)
.msFadeAccel = 2000, //acceleration of the motor (ms it takes from 0% to 100%)
.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
.currentMax = 10
};

5
main/motorctl.cpp
View File

@ -122,14 +122,13 @@ void controlledMotor::handle(){
if (dutyNow < 0) { //reverse, decelerating
fade(&dutyNow, dutyTarget, dutyIncrementDecel);
}
else if (dutyNow > 0) { //forward, accelerating
else if (dutyNow >= 0) { //forward, accelerating
fade(&dutyNow, dutyTarget, dutyIncrementAccel);
}
}
else if (dutyDelta < 0) { //difference negative -> decreasing duty (100 -> -100)
if (dutyNow < 0) { //reverse, accelerating
if (dutyNow <= 0) { //reverse, accelerating
fade(&dutyNow, dutyTarget, - dutyIncrementAccel);
}
else if (&dutyNow > 0) { //forward, decelerating
fade(&dutyNow, dutyTarget, - dutyIncrementDecel);