mirror of
git://projects.qi-hardware.com/antorcha.git
synced 2024-11-22 13:57:10 +02:00
tornado/fw/sim/alg.c: dampen more, to also absorb chain jumps
This commit is contained in:
parent
ce9caf0f3b
commit
2c7d7b78b0
@ -12,7 +12,7 @@
|
|||||||
#define F 2 /* rotational speed in Hz */
|
#define F 2 /* rotational speed in Hz */
|
||||||
#define R 0.46 /* radius of accelerometer orbit */
|
#define R 0.46 /* radius of accelerometer orbit */
|
||||||
|
|
||||||
#define H (G/2) /* hysteresis, in accelerometer units */
|
#define H (G/3) /* hysteresis, in accelerometer units */
|
||||||
|
|
||||||
|
|
||||||
/* noise pattern: frequency, amplitude pairs */
|
/* noise pattern: frequency, amplitude pairs */
|
||||||
@ -41,13 +41,13 @@ static uint16_t sample(double t)
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
#define E_SHIFT 6 /* ~ 0.06 */
|
#define E_SHIFT 8 /* ~ 0.06 */
|
||||||
#define M_SHIFT 10 /* ~ 2/S */
|
#define M_SHIFT 11 /* ~ 2/S */
|
||||||
|
|
||||||
|
|
||||||
static void process(unsigned v)
|
static void process(unsigned v)
|
||||||
{
|
{
|
||||||
static uint16_t e = MID << E_SHIFT;
|
static uint32_t e = MID << E_SHIFT;
|
||||||
static uint32_t m = MID << M_SHIFT;
|
static uint32_t m = MID << M_SHIFT;
|
||||||
static bool up = 0;
|
static bool up = 0;
|
||||||
int d;
|
int d;
|
||||||
|
Loading…
Reference in New Issue
Block a user