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| author | Avi Levkovich <avi@twine-s.com> | 2018-06-13 09:45:52 +0300 |
|---|---|---|
| committer | Avi Levkovich <avi@twine-s.com> | 2018-06-13 09:45:52 +0300 |
| commit | 0d5c2e03b1f0e06cd307eaa2d5b7eaab894126d5 (patch) | |
| tree | 19119cd31ed779383beafbd12c32424baf5c1f3b /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | 2d900a86cae2027dc43d73e92da889d6e1aa3f7b (diff) | |
| download | Tango-0d5c2e03b1f0e06cd307eaa2d5b7eaab894126d5.tar.gz Tango-0d5c2e03b1f0e06cd307eaa2d5b7eaab894126d5.zip | |
update I2C
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 6 |
1 files changed, 2 insertions, 4 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index e2d492b47..0e276fe92 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -17,7 +17,6 @@ HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0}; int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0}; int MotorSamplePointer[MAX_THREAD_MOTORS_NUM] = {0}; double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM] = {0}; -double DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM] = {0}; InternalWinderConfigStruc InternalWinderCfg = {0}; HardwareDancer DancersCfg[MAX_SYSTEM_DANCERS] = {0}; @@ -98,11 +97,10 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) MotorSamples[Motor_i][i] = 0; //reset the samples value for control beginning NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits); - temp=(10*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm); + temp=(100*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm); NormalizedErrorCoEfficient[Motor_i] = NormalizedErrorCoEfficient[Motor_i] / temp; // uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; - DancerStopActivityLimit[Motor_i] = ((1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits)*(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm)*2)); - DancerStopActivityLimit[Motor_i] = DancerStopActivityLimit[Motor_i]/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); + return OK; } uint32_t DancerConfigMessage(HardwareDancer * request) |