From 333c829335d0833a532de5b252d9d879df867d38 Mon Sep 17 00:00:00 2001
From: Pontus Giselsson <pontus.giselsson@control.lth.se>
Date: Tue, 24 Feb 2009 14:27:55 +0000
Subject: [PATCH] Minor detail fixed
---
linear_pendulum_2009/avr/vel_control.c | 3 +--
1 file changed, 1 insertion(+), 2 deletions(-)
diff --git a/linear_pendulum_2009/avr/vel_control.c b/linear_pendulum_2009/avr/vel_control.c
index 62f3e82..ea57e49 100644
--- a/linear_pendulum_2009/avr/vel_control.c
+++ b/linear_pendulum_2009/avr/vel_control.c
@@ -326,12 +326,11 @@ int main()
high = inp(ADCH);
pos = 0; // reset position
angleOffset = ((int16_t) ((high<<8) | low) - 512);
- //angleOffset = -150;
- sei();
oldPos = 0;
velEst = 0; // reset velocity estimate
I = 0; // reset integral part of controller
u = 0; // reset ctrl signal
+ sei();
}
}
}
--
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