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Code Issues 121 Wiki Activity

Fix for last fix for speed control

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This commit is contained in:
Królik Uszasty
2019-10-13 00:10:34 +02:00
committed by tmj-fstate
parent fd1df9ad51
commit 53a176de2f
1 changed files with 2 additions and 2 deletions
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4
McZapkie/Mover.cpp
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@@ -6657,7 +6657,7 @@ void TMoverParameters::CheckSpeedCtrl(double dt)
}
double error = (std::max(SpeedCtrlValue + SpeedCtrlUnit.Offset, 0.0) - Vel);
double factorP = error > 0 ? SpeedCtrlUnit.FactorPpos : SpeedCtrlUnit.FactorPneg;
double eSCP = clamp(factorP * error, -1.2, UniCtrlList[MainCtrlPos].MaxCtrlVal); //P module
double eSCP = clamp(factorP * error, -1.2, 1.0); //P module
if (eSCP < -1.0)
{
SpeedCtrlUnit.BrakeInterventionBraking = (eSCP < -1.1) && (Vel < hydro_TC_UnlockSpeed);
@@ -6673,7 +6673,7 @@ void TMoverParameters::CheckSpeedCtrl(double dt)
else {
eimicSpeedCtrlIntegral = 0;
}
eimicSpeedCtrl = clamp(eimicSpeedCtrlIntegral + eSCP, -SpeedCtrlUnit.DesiredPower, SpeedCtrlUnit.DesiredPower);
eimicSpeedCtrl = clamp(eimicSpeedCtrlIntegral + eSCP, -SpeedCtrlUnit.DesiredPower, SpeedCtrlUnit.DesiredPower*double(UniCtrlList[MainCtrlPos].SpeedUp > 0));
if (Vel < SpeedCtrlUnit.FullPowerVelocity) {
eimicSpeedCtrl = std::min(eimicSpeedCtrl, SpeedCtrlUnit.InitialPower);
}