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| author | Shlomo Hecht <shlomo@twine-s.com> | 2018-06-11 11:26:29 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2018-06-11 11:26:29 +0300 |
| commit | 51d7c41cbbec95d2428a270b3f585011aa9babf3 (patch) | |
| tree | 16ddd1c5e304d5f02a021a0bd3aeb2b482bfb6a7 /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | 9a8b53c838134dca38816aac28b119a14dae05bd (diff) | |
| download | Tango-51d7c41cbbec95d2428a270b3f585011aa9babf3.tar.gz Tango-51d7c41cbbec95d2428a270b3f585011aa9babf3.zip | |
Winder changes, Job stop on dancer extreme move
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 4 |
1 files changed, 3 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 d27b4f94e..e2d492b47 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -17,6 +17,7 @@ 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}; @@ -100,7 +101,8 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) temp=(10*(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) |