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Code Issues 123 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
parent db3d2a8509
commit 8802ae7628
1 changed files with 2 additions and 2 deletions
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4
McZapkie/Mover.cpp
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@@ -6529,7 +6529,7 @@ void TMoverParameters::CheckSpeedCtrl(double dt)
} }
double error = (std::max(SpeedCtrlValue + SpeedCtrlUnit.Offset, 0.0) - Vel); double error = (std::max(SpeedCtrlValue + SpeedCtrlUnit.Offset, 0.0) - Vel);
double factorP = error > 0 ? SpeedCtrlUnit.FactorPpos : SpeedCtrlUnit.FactorPneg; 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) if (eSCP < -1.0)
{ {
SpeedCtrlUnit.BrakeInterventionBraking = (eSCP < -1.1) && (Vel < hydro_TC_UnlockSpeed); SpeedCtrlUnit.BrakeInterventionBraking = (eSCP < -1.1) && (Vel < hydro_TC_UnlockSpeed);
@@ -6545,7 +6545,7 @@ void TMoverParameters::CheckSpeedCtrl(double dt)
else { else {
eimicSpeedCtrlIntegral = 0; 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) { if (Vel < SpeedCtrlUnit.FullPowerVelocity) {
eimicSpeedCtrl = std::min(eimicSpeedCtrl, SpeedCtrlUnit.InitialPower); eimicSpeedCtrl = std::min(eimicSpeedCtrl, SpeedCtrlUnit.InitialPower);
} }