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fix limit bug

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master
Eggert Jung 3 years ago
parent 012f133dbe
commit 560b4fbc4d
1 changed files with 2 additions and 2 deletions
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4
taenzer.c
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@ -80,7 +80,7 @@ void do_taenzer(){
} }
/* Force regualtion */ /* 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); int16_t err = (kraftsensor_value - taenzer_state.force_setpoint);
double pid_out = pid(&regler, err); double pid_out = pid(&regler, err);
@ -90,7 +90,7 @@ void do_taenzer(){
OCR4A = ICR4/2; OCR4A = ICR4/2;
if(kraftsensor_valid && notaus_state == POWER_ON){ 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 set_Output(MOTOR_TAENZER_DIR, 0); // direction: down
TCCR4B |= _BV(CS41); //TURN ON TCCR4B |= _BV(CS41); //TURN ON
} }