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add not touched recentering failsave

This commit is contained in:
interfisch 2019-12-29 12:42:21 +01:00
parent d8afc9682f
commit 12ba725fc1
1 changed files with 2 additions and 2 deletions
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4
controller/controller.ino
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@ -412,8 +412,8 @@ void loop() {
//calculate speed l and r from speed and steer
#define SPEED_COEFFICIENT_NRF 1 // higher value == stronger
#define STEER_COEFFICIENT_NRF 0.5 // higher value == stronger
out_speedl = constrain(set_speed * SPEED_COEFFICIENT_NRF + set_steer * STEER_COEFFICIENT_NRF, -1000, 1000);
out_speedr = constrain(set_speed * SPEED_COEFFICIENT_NRF - set_steer * STEER_COEFFICIENT_NRF, -1000, 1000);
out_speedl = constrain(set_speed * SPEED_COEFFICIENT_NRF + set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
out_speedr = constrain(set_speed * SPEED_COEFFICIENT_NRF - set_steer * STEER_COEFFICIENT_NRF, -1500, 1500);
/*
Serial.print("Out steer=");