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| if (position_setpoint > STR_MAX_ANGLE) position_setpoint = STR_MAX_ANGLE; // STR_MAX_ANGLE should be +135 | ||
| if (position_setpoint < STR_MIN_ANGLE) position_setpoint = STR_MIN_ANGLE; // STR_MIN_ANGLE should be -135 | ||
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| if (position_setpoint > STR_MAX_ANGLE) position_setpoint = STR_MAX_ANGLE; | ||
| if (position_setpoint < STR_MIN_ANGLE) position_setpoint = STR_MIN_ANGLE; | ||
| if (angle > STR_MAX_ANGLE) angle = STR_MAX_ANGLE; // STR_MAX_ANGLE should be +135 | ||
| if (angle < STR_MIN_ANGLE) angle = STR_MIN_ANGLE; // STR_MIN_ANGLE should be -135 |
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This is important to reduce the error accumulation of the PI integrator. If the values entering the PI are not in the same range/scale, it will cause a bias on the error variable, which can end up being unfixable in runtime, since we never reset the integrator.
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| if (measurements.batvoltage_avg_sum_count++ > ULONG_MAX -1) { | ||
| average_measurements() | ||
| } |
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here we prevent the overflow, although it would not happen even in a million years
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