Thread: Take the "Bane" out of your Banebot P60s - Solution to Banebot P60 Weaknesses
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Unread 08-03-2011, 12:56
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Re: Take the "Bane" out of your Banebot P60s - Solution to Banebot P60 Weaknesses



pseudo-code for rate-limiting the command to the motors:


Code:
if (newCmd>oldCmd+rateLimit) newCmd = oldCmd+rateLimit;

else

if (newCmd<oldCmd-rateLimit) newCmd = oldCmd-rateLimit;

oldCmd = newCmd;


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