modelec/odo_STM32
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acki
2026-03-13 13:09:35 +01:00
parent 3122eba862
commit 8d15da5f42
1 changed files with 1 additions and 1 deletions
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Core/Src/modelec.cpp
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@@ -124,7 +124,7 @@ void DiffBot::update(float dt_actual)
pos.theta = normalizeAngle(pos.theta + dTheta);
bool commandingMove = (std::abs(motor.leftTarget_PWM) > 50 || std::abs(motor.rightTarget_PWM) > 50);
bool isStationary = (std::abs(vLeftAct) < 0.01f && std::abs(vRightAct) < 0.01f);
bool isStationary = (std::abs(vLeftAct) < 0.001f && std::abs(vRightAct) < 0.001f);
if (commandingMove && isStationary) {
if (!no_move)