diff options
| author | Shlomo Hecht <shlomo@twine-s.com> | 2018-04-18 14:56:16 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2018-04-18 14:56:16 +0300 |
| commit | a658f7b367c5fafe249706d8ff5762c893a548bb (patch) | |
| tree | 4327efe7d2e4fdf5808575a82a65a2d8c58a5a6c /Software/Embedded_SW/Embedded/Modules/Control/control.c | |
| parent | 17c5673ea81fbc79043b8e08301d9b0b1f3457b2 (diff) | |
| download | Tango-a658f7b367c5fafe249706d8ff5762c893a548bb.tar.gz Tango-a658f7b367c5fafe249706d8ff5762c893a548bb.zip | |
fix the control. in this version Motors PID wors for the first time
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Control/control.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Control/control.c | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c index 6bf238507..28b4afb8d 100644 --- a/Software/Embedded_SW/Embedded/Modules/Control/control.c +++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c @@ -52,6 +52,7 @@ #include "drivers/adc_sampling/adc.h" #include "control.h" +#include "MillisecTask.h" /******************** Definitions ********************************************/ #define INVALID_MSG_ID 0xFFFF #define MAX_TANGO_CONTROL_DEVICES 200 @@ -152,6 +153,7 @@ void ControlStart(void) if (ControlRestart == false) { ControlRestart = true; + MillisecStart(); ROM_TimerLoadSet(Control_timerBase, TIMER_A,120000+(ControlPhaseDelay*120)/*one millisecond*/); TimerEnable(Control_timerBase, TIMER_A); |