diff options
| author | Shlomo Hecht <shlomo@twine-s.com> | 2020-09-02 10:34:05 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2020-09-02 10:34:05 +0300 |
| commit | b2977e51824febd45cfb7d33e8c4c8aa6514666c (patch) | |
| tree | b85fb77db01387eae8d1f4db1d821bea193109ad /Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | |
| parent | f8588504c5953ff39b36c113c7443c4dedbd4d1e (diff) | |
| download | Tango-b2977e51824febd45cfb7d33e8c4c8aa6514666c.tar.gz Tango-b2977e51824febd45cfb7d33e8c4c8aa6514666c.zip | |
version 1.4.6.44 p1 IDS pre-run and remove integral on thread loading feeder control
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index c478b82de..84cc5cf20 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -717,7 +717,7 @@ MotorControlConfig[FEEDER_MOTOR].m_params.MIN = MotorsControl[FEEDER_MOTOR].outputproportionalpowerlimit*-1; MotorControlConfig[FEEDER_MOTOR].m_params.Kd = MotorsControl[FEEDER_MOTOR].derivativetime; MotorControlConfig[FEEDER_MOTOR].m_params.Kp = MotorsControl[FEEDER_MOTOR].proportionalgain; - MotorControlConfig[FEEDER_MOTOR].m_params.Ki = MotorsControl[FEEDER_MOTOR].integraltime; + MotorControlConfig[FEEDER_MOTOR].m_params.Ki = 0;//MotorsControl[FEEDER_MOTOR].integraltime; MotorControlConfig[FEEDER_MOTOR].m_params.IntegralErrorMultiplier = MotorsControl[FEEDER_MOTOR].setpointramprateorsoftstartramp; MotorControlConfig[FEEDER_MOTOR].m_params.ProportionalErrorMultiplier = MotorsControl[FEEDER_MOTOR].outputonoffhysteresisvalue; MotorControlConfig[FEEDER_MOTOR].m_params.epsilon = MotorsControl[FEEDER_MOTOR].epsilon; |