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Clarify current_setpoint calculation

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2020-04-21 20:39:39 -04:00
parent 574190e433
commit a5d991e712
1 changed files with 1 additions and 1 deletions
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Firmware/MotorControl/controller.cpp
+1 -1
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@@ -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);