adipu/guadaloop_lev_control
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kellharpole
2025-11-16 12:11:03 -06:00
parent fcce2c179d
commit fb475f2ecf
1 changed files with 5 additions and 0 deletions
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DualYokeControl (Previous Version).ino
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@@ -130,6 +130,11 @@ void loop() {
ecurr2 = ref2 - dist2; ecurr2 = ref2 - dist2;
derror2 = ecurr2 - eprior2; 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) { if (ON) {