Limited pwm more to 1400-1600

vortexntnu · Oct 16, 2023 · 2732c84 · 2732c84
1 parent 9782bc0
commit 2732c84
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp
@@ -53,7 +53,7 @@ float ThrusterInterface::interpolate(float force) {
       pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5);
 
   int clipped_pwm_signal =
-      std::min(std::max(pwm_signal, 1300), 1700); // min 1100, max 1900
+      std::min(std::max(pwm_signal, 1400), 1600); // min 1100, max 1900
 
   return clipped_pwm_signal;
 }
@@ -65,7 +65,7 @@ ThrusterInterface::pwm_to_bytes(const std::vector<int> &pwm_values) {
   for (const auto &val : pwm_values) {
     // Ensure the value is in the correct range and cast to an integer
     int pwm_int = static_cast<int>(
-        std::min(std::max(val, 1300), 1700)); // min 1100, max 1900
+        std::min(std::max(val, 1400), 1600)); // min 1100, max 1900
 
     // Split the integer into most significant byte (MSB) and least significant
     // byte (LSB)

diff --git a/motion/thruster_interface/src/thruster_interface_node.cpp b/motion/thruster_interface/src/thruster_interface_node.cpp
@@ -33,8 +33,8 @@ void ThrusterInterfaceROS::thrust_callback(
     int pwm_value_correct_direction =
         center_pwm_value + thruster_direction_map[i] * offset_from_center_value;
 
-    int pwm_clamped = std::min(std::max(pwm_value_correct_direction, 1300),
-                               1700); // min 1100, max 1900
+    int pwm_clamped = std::min(std::max(pwm_value_correct_direction, 1400),
+                               1600); // min 1100, max 1900
     pwm_msg.positive_width_us.push_back(pwm_clamped);
     pwm_msg.pins.push_back(thruster_to_pin_map[i]);
   }