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- control_signal += A[0] * error[0] + A[1] * error[1] + A[2] * error[2];
- if( control_signal < 0 ) {
- if( control_signal < -(4000 << 16) )
- control_signal = -(4000 << 16);
- EPWM1A = (-control_signal) >> 16;
- gpio_set_one_low( &GPIO0, 31 );
- } else {
- if( control_signal > (4000 << 16) )
- control_signal = (4000 << 16);
- EPWM1A = control_signal >> 16;
- gpio_set_one_high( &GPIO0, 31 );
- }
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