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| author | Avi Levkovich <avi@twine-s.com> | 2020-07-27 15:26:31 +0300 |
|---|---|---|
| committer | Avi Levkovich <avi@twine-s.com> | 2020-07-27 15:26:31 +0300 |
| commit | 6328230a31717cf1c7989b48244b8e23fd8b4f25 (patch) | |
| tree | 6ee864d9612afa78af6d9f60cb8dca293e81fd65 /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | f51a7d656e9ec9795a1ca80ad643b9d3c5c23638 (diff) | |
| parent | b14e00420970b12e57433cbf964a6aad92c389ea (diff) | |
| download | Tango-6328230a31717cf1c7989b48244b8e23fd8b4f25.tar.gz Tango-6328230a31717cf1c7989b48244b8e23fd8b4f25.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; } |