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| author | Roy Ben-Shabat <Roy@Twine-s.com> | 2020-07-27 15:39:26 +0300 |
|---|---|---|
| committer | Roy Ben-Shabat <Roy@Twine-s.com> | 2020-07-27 15:39:26 +0300 |
| commit | 5e59906df60d82248da4ae47677ed59d56fb605a (patch) | |
| tree | 8585548197bfada234b7ded17028aba9563c32de /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | 3210901f7aa313cfe1eb2c303b539d6e7d1f2324 (diff) | |
| parent | c947fa4b4999b1368ee500c3349ef6e8fce3f0b5 (diff) | |
| download | Tango-5e59906df60d82248da4ae47677ed59d56fb605a.tar.gz Tango-5e59906df60d82248da4ae47677ed59d56fb605a.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/_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; } |