integral shi

2025-11-16 12:11:03 -06:00
parent fcce2c179d
commit fb475f2ecf
1 changed files with 5 additions and 0 deletions
--- a/Version).ino
+++ b/Version).ino
@@ -130,6 +130,11 @@ void loop() {

    ecurr2 = ref2 - dist2;
    derror2 = ecurr2 - eprior2;
+    
+    ecum += ecurr * (telapsed / 1e6);
+    ecum = constrain(ecum, -MAX_INTEGRAL_TERM, MAX_INTEGRAL_TERM);
+    ecum2 += ecurr2 * (telapsed / 1e6);
+    ecum2 = constrain(ecum2, -MAX_INTEGRAL_TERM, MAX_INTEGRAL_TERM);

    
    if (ON) {