From 84effb379d2a563e72068bad8be8c46bc88d2fb3 Mon Sep 17 00:00:00 2001
From: Mathis et Yohan <mathisetyohan@macbookpro13.home>
Date: Fri, 12 Nov 2021 18:34:14 +0100
Subject: [PATCH] Add file upgrade

---
 RLS_V1.0/.DS_Store                            | Bin 12292 -> 12292 bytes
 RLS_V1.0/R2Home_SOFTWARE_V1.01/.DS_Store      | Bin 0 -> 6148 bytes
 .../R2Home_SERVO.ino}                         |   3 +++
 3 files changed, 3 insertions(+)
 create mode 100644 RLS_V1.0/R2Home_SOFTWARE_V1.01/.DS_Store
 rename RLS_V1.0/R2Home_SOFTWARE_V1.01/{R2Home_SERVO.step/R2Home_SERVO.step.ino => R2Home_SERVO/R2Home_SERVO.ino} (92%)

diff --git a/RLS_V1.0/.DS_Store b/RLS_V1.0/.DS_Store
index 1d5c59bbe4f8eeefef7b587fcf06f61f48bc1514..a56568c96ea3039969dabf7c1a8da4d4938357c2 100644
GIT binary patch
delta 1419
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zb~kNV8U=3&#LGYk#Ka3|sxP1`FAyObArM1INCQz~e9^?1aPf&3qn^$zy!zl1=jFeA
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z4~<PsPVFh~Ju0RZ3vewhF5CO&m<?aEeWt3@0~!(jTFlt%y>+rr?jF#GjZ9LX)a<Nx
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zikG2d7k0zKB=(?)y?7Jv;61z#8z10P%rxM0e1Q_a!}qv=i@1s(@e^+1SKPvF`&b}^
zyMq0M-B81DP$*EpP;UCa0yHh(Wp~v^rvr8M4Z%pTk?~86v)Q>&js}|~ewuMOVK5qO
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CscFIh

delta 669
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zNUW@0`k)A*peX7hh6Gu371T{P?XLcU2rr7R>)l5X(dF|zFXw%KKhE;Z^31g;T3$?S
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zu!2=w#uePcIv(I5dv29Y-|&;EHb1-J>SDT$-$1RVaO97di|ji+!NPKT+Uxent$szJ
zl{X6IN^DRSLN~aNO6XGgX5@?P_IOE;5)ip6YN|%1j|>Q03boYMK{6zAZPZ*__mZH%
z?NDp=Ln9%DZ8_X^<o;wQdN7D#ju*l{?8gKLjA0T-aGXOXIA)qdW|6}@7H|%WSi+?`
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fwAz<$dWz=j=YNzMd_Ef+rmlZ<sU>rV`rqL<!K<ec

diff --git a/RLS_V1.0/R2Home_SOFTWARE_V1.01/.DS_Store b/RLS_V1.0/R2Home_SOFTWARE_V1.01/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..952617014d018a6dc7969c7eeeba19c971649828
GIT binary patch
literal 6148
zcmeHK!AiqG5Pe&VRP@lJ$Nd5^enF@ycq<s_wL(+$U`RoG@{%v|<nMU!<h7sRo1G;z
z##+4;kr|kIo5@Tv`<7&O0l3ksNPr=L0adVfMDvBnebJ8eqDOAJ@Qe}*%rL<Smz`*H
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zF`TB;?_*pVu~yV{xOn(*@y#xtP+Z(mIUmB|Qbn`IfHBZ!;6N{j(*MWX&;RWtyD|oh
zfq%t->t}g3;*?@<?MzO3t*72lMI^3PY*IJ~t(dXWichIQ==U-prV(pJdMLIL2sD^6
I2KLIp2gaIJ^#A|>

literal 0
HcmV?d00001

diff --git a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_SERVO.step/R2Home_SERVO.step.ino b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_SERVO/R2Home_SERVO.ino
similarity index 92%
rename from RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_SERVO.step/R2Home_SERVO.step.ino
rename to RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_SERVO/R2Home_SERVO.ino
index 659d7ea..4374a98 100644
--- a/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_SERVO.step/R2Home_SERVO.step.ino
+++ b/RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_SERVO/R2Home_SERVO.ino
@@ -49,6 +49,7 @@ if ((millis()-tread)>=(1000/a)) {
   tread = millis(); 
 
   parallax_steer = inputCmd.getPulse();
+  parallax_steer = constrain(parallax_steer, 1050, 1950); 
   parallax_steer = map(parallax_steer,1000, 2000, 1050, 1950);   
 
   Serial.print(parallax_steer); Serial.print(","); Serial.print(feedback_value); Serial.print(","); Serial.print(error);  Serial.print(",");  Serial.println(PIDsum);  
@@ -72,6 +73,8 @@ void updatecmd(int a) {
       raterror = (error-lasterror);
       PIDsum = (Kp*error)+(Kd*raterror);  
       cmd = 1500 + PIDsum; 
+      if (cmd >1500) {cmd = cmd+20;}
+      if (cmd <1500) {cmd = cmd-20;}
 
       constrain(cmd, 1000, 2000);