From a5d991e712c26d7957ad16b9f3d54224fc5159bc Mon Sep 17 00:00:00 2001 From: Unknown Date: Tue, 21 Apr 2020 20:39:39 -0400 Subject: [PATCH] Clarify current_setpoint calculation --- Firmware/MotorControl/controller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp index 498e03e5..3b450277 100644 --- a/Firmware/MotorControl/controller.cpp +++ b/Firmware/MotorControl/controller.cpp @@ -160,7 +160,7 @@ bool Controller::update(float* current_setpoint_output) { float step = std::clamp(full_step, -max_step_size, max_step_size); vel_setpoint_ += step; - current_setpoint_ = step / current_meas_period * config_.inertia; + current_setpoint_ = (step / current_meas_period) * config_.inertia; } break; case INPUT_MODE_CURRENT_RAMP: { float max_step_size = std::abs(current_meas_period * config_.current_ramp_rate);