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| author | Roy Ben-Shabat <Roy@Twine-s.com> | 2019-01-24 13:29:36 +0200 |
|---|---|---|
| committer | Roy Ben-Shabat <Roy@Twine-s.com> | 2019-01-24 13:29:36 +0200 |
| commit | 9e7d86a4b8a67d4b94d33600a34f617b51abc426 (patch) | |
| tree | 2ab2cc9c9d1eafcead62131faddcf9fe90d0ba0a /Software/Embedded_SW/Embedded/Modules/Thread/Thread.h | |
| parent | 7fff53b4e158212572dd0d83b5628e799e05ba01 (diff) | |
| parent | 91d4a6eceb00882a0898016e743130d62156e33b (diff) | |
| download | Tango-9e7d86a4b8a67d4b94d33600a34f617b51abc426.tar.gz Tango-9e7d86a4b8a67d4b94d33600a34f617b51abc426.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread.h')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread.h | 14 |
1 files changed, 14 insertions, 0 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h index 9c42dde01..8c6164219 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h @@ -13,6 +13,7 @@ #include "PMR/Printing/JobSpoolType.pb-c.h" #include "drivers/Motors/Motor.h" +#include "../control/pidalgo.h" #include "thread_ex.h" @@ -26,6 +27,18 @@ typedef struct double NumberOfRotationPerPassage; // how many rotations per spool passage double diameter; }InternalWinderConfigStruc; +typedef struct +{ + bool m_isEnabled; + int32_t m_SetParam; + float m_mesuredParam; + float m_preError; + float m_integral; + float m_calculatedError; + bool m_isReady; + uint32_t m_ingnoreValue; + PID_Config_Params m_params; +}MotorControlConfig_t; #define MAX_THREAD_FEED_MOTORS WINDER_MOTOR+1 @@ -50,6 +63,7 @@ extern int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; extern int MotorSamplePointer[MAX_THREAD_MOTORS_NUM]; extern double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM]; extern int DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM]; +extern MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM]; uint32_t InternalWinderConfigMessage(HardwareWinder* request); |