Diff: RenBuggy_PID.cpp

Revision:

2:cd7543fdcb8c

Parent:

1:8a2a7adb3c5d

--- a/RenBuggy_PID.cpp	Wed Mar 05 13:37:10 2014 +0000
+++ b/RenBuggy_PID.cpp	Thu Mar 06 09:56:11 2014 +0000
@@ -143,6 +143,7 @@
     
     int halfAxleLength = (m_axleLength + 1)/2;
     RadiusLeft = RadiusLeft < halfAxleLength ? halfAxleLength : RadiusLeft;
+    AngleLeft = AngleLeft > 90 ? 90 : AngleLeft;
     
     float m_fDistanceL = (2*pi*(RadiusLeft - halfAxleLength))*(m_countsPerRev/m_wheelCircumference)/(360/AngleLeft); 
     float m_fDistanceR = (2*pi*(RadiusLeft + halfAxleLength))*(m_countsPerRev/m_wheelCircumference)/(360/AngleLeft); //gives the length of the arc over which the wheel will travel, and translates that into a number of wheel stripes
@@ -190,6 +191,7 @@
     
     int halfAxleLength = (m_axleLength + 1)/2;
     RadiusRight = RadiusRight < halfAxleLength ? halfAxleLength : RadiusRight;
+    AngleRight = AngleRight > 90 ? 90 : AngleRight;
     
     float m_fDistanceL = (2*pi*(RadiusRight + halfAxleLength))*(m_countsPerRev/m_wheelCircumference)/(360/AngleRight); //Forcing it to an int beforehand didn't work. It twitches instead of going argh no, but it still doesn't really work.
     float m_fDistanceR = (2*pi*(RadiusRight - halfAxleLength))*(m_countsPerRev/m_wheelCircumference)/(360/AngleRight);
@@ -327,4 +329,4 @@
     m_controllerR.setTunings(p, i, d);
 }
 
-#endif
+#endif
\ No newline at end of file