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| author | Shlomo Hecht <shlomo@twine-s.com> | 2020-07-26 19:03:22 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2020-07-26 19:03:22 +0300 |
| commit | 4afe631a74c19db1fe7d06d3ea7732decc69f82b (patch) | |
| tree | 44347642731f5ea0431d718a3e0b4507a985ebfa /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | 5c5cb4094035c88e0e8f3a403d29c6bc16b52bb5 (diff) | |
| download | Tango-4afe631a74c19db1fe7d06d3ea7732decc69f82b.tar.gz Tango-4afe631a74c19db1fe7d06d3ea7732decc69f82b.zip | |
loading improved, actoator relocated. waste alarms
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index e1f887303..39ff91558 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -145,7 +145,7 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) NormalizedErrorCoEfficient[Motor_i] = NormalizedErrorCoEfficient[Motor_i] / temp; // uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits); - temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm*3/2); + temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);//*3/2); DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); return OK; } |