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| author | Victoria Plitt <Victoria.Plitt@twine-s.com> | 2020-07-30 09:18:16 +0300 |
|---|---|---|
| committer | Victoria Plitt <Victoria.Plitt@twine-s.com> | 2020-07-30 09:18:16 +0300 |
| commit | 4c4bf90e9b981c41f5329c74ac3cb6c8cbb97c6e (patch) | |
| tree | 71d51e6468b3fa28e0df6c8d05e2be46ea06620c /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | f41d369bfa1cf509db82f6c1278e53381ed1e531 (diff) | |
| parent | bf989bcfa848e20f8bd27aa71acc2fbdee38f57b (diff) | |
| download | Tango-4c4bf90e9b981c41f5329c74ac3cb6c8cbb97c6e.tar.gz Tango-4c4bf90e9b981c41f5329c74ac3cb6c8cbb97c6e.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango
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; } |