From 12ba725fc1ead9c6d2d379dba4f90727e6e73b25 Mon Sep 17 00:00:00 2001 From: Fisch Date: Sun, 29 Dec 2019 12:42:21 +0100 Subject: [PATCH] add not touched recentering failsave --- controller/controller.ino | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/controller/controller.ino b/controller/controller.ino index 0643538..9d63c9d 100644 --- a/controller/controller.ino +++ b/controller/controller.ino @@ -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=");