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| author | Shlomo Hecht <shlomo@twine-s.com> | 2019-05-26 18:13:17 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2019-05-26 18:13:17 +0300 |
| commit | d7d99dc7d1fa11845c5d4df3bbff16fec33b406c (patch) | |
| tree | 9cae8240e225014d35f661880aec17cca8c69486 /Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | |
| parent | 77e72b9d16522648a350a95382309e9692434011 (diff) | |
| download | Tango-d7d99dc7d1fa11845c5d4df3bbff16fec33b406c.tar.gz Tango-d7d99dc7d1fa11845c5d4df3bbff16fec33b406c.zip | |
Version 1.4.0.2 improve winding (simplify). incorporate screw encoder reading. fix length/time problem between IDS and Thread.
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 ab5075ab9..66d6baed5 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -594,7 +594,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) MotorControlConfig[index].m_calculatedError = (-1*MotorControlConfig[index].m_calculatedError); }*/ calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index]; - if (abs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue) + if (fabs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue) { CurrentControlledSpeed[index] = calculated_speed; MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed); |