Take the "Bane" out of your Banebot P60s - Solution to Banebot P60 Weaknesses

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Take the "Bane" out of your Banebot P60s - Solution to Banebot P60 Weaknesses

#12

08-03-2011, 12:56

Ether

systems engineer (retired)

no team

Join Date: Nov 2009

Rookie Year: 1969

Location: US

Posts: 8,058

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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