From 560b4fbc4d6b2d6f0b906874e82bf202f6d41178 Mon Sep 17 00:00:00 2001 From: Eggert Jung Date: Thu, 28 Jul 2022 18:14:34 +0200 Subject: [PATCH] fix limit bug --- taenzer.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/taenzer.c b/taenzer.c index ee691d3..c21d964 100644 --- a/taenzer.c +++ b/taenzer.c @@ -80,7 +80,7 @@ void do_taenzer(){ } /* Force regualtion */ - if(kraftsensor_valid && taenzer_state.active && taenzer_state.homed && taenzer_state.pos >= 0 && taenzer_state.pos < 500000){ + if(kraftsensor_valid && taenzer_state.active && taenzer_state.homed && taenzer_state.pos >= 0){ int16_t err = (kraftsensor_value - taenzer_state.force_setpoint); double pid_out = pid(®ler, err); @@ -90,7 +90,7 @@ void do_taenzer(){ OCR4A = ICR4/2; if(kraftsensor_valid && notaus_state == POWER_ON){ - if(out < -TAENZER_KRAFT_HYST/2 /* && taenzer_state.pos < 300000UL*/){ + if(out < -TAENZER_KRAFT_HYST/2 && taenzer_state.pos < 970000UL){ set_Output(MOTOR_TAENZER_DIR, 0); // direction: down TCCR4B |= _BV(CS41); //TURN ON }