Update MotorControlTask.cpp

Alpha-CubeSat · Dec 8, 2024 · 9ffc962 · 9ffc962
1 parent f7f164e
commit 9ffc962
Showing 1 changed file with 1 addition and 8 deletions.
diff --git a/src/Control Tasks/MotorControlTask.cpp b/src/Control Tasks/MotorControlTask.cpp
@@ -66,13 +66,12 @@ void MotorControlTask::control() {
     time_curr = millis();
 
     sfr::imu::failed_init = true;
-    if (sfr::imu::failed_init != true){
+    if (sfr::imu::failed_init == false){
 
             // calculate PID terms
         proportional = Kp * error_curr;
         derivative = Kd * (error_curr - error_prev) / (time_curr - time_prev);
 
-<<<<<<< HEAD
         // send electic pulse based on PID (range from 0 to 1000)
         vlogln(esc_prev);
         T = proportional + derivative;
@@ -89,12 +88,6 @@ void MotorControlTask::control() {
 
     }else{ // open loop
         duty_cycle = 1800;
-=======
-    if (duty_cycle < 1180.00) {
-        duty_cycle = 1180.00;
-    } else if (duty_cycle > 2000.00) {
-        duty_cycle = 2000.00;
->>>>>>> ff922fe11ee0ba458cf63a01923f26b85b6bd2c3
     }
 
     angle = map(duty_cycle, 1000, 2000, 0, 180);