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| author | Victoria Plitt <Victoria.Plitt@twine-s.com> | 2019-05-20 14:18:17 +0300 |
|---|---|---|
| committer | Victoria Plitt <Victoria.Plitt@twine-s.com> | 2019-05-20 14:18:17 +0300 |
| commit | 84094ce335d9b51307b44729a5e43fe97f1d5f6a (patch) | |
| tree | d4f4573ed8f25ddd2f02df5b55b750ea892d83c2 /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | 672dbf2bd4c1a2348d7c8e0ca79dce946078c569 (diff) | |
| parent | 4130d9b00f5500fef2f9f1637dbe473942929958 (diff) | |
| download | Tango-84094ce335d9b51307b44729a5e43fe97f1d5f6a.tar.gz Tango-84094ce335d9b51307b44729a5e43fe97f1d5f6a.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 | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index 4454565c1..265c751c6 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -106,18 +106,18 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) #ifdef TEST_LONGER_PID_THREAD MotorsControl[Motor_i].pvinputfilterfactormode = 10; //test longer control #endif - for (i = 0;i < MotorsControl[Motor_i].pvinputfilterfactormode; i++) + for (i = 0;i < (int)MotorsControl[Motor_i].pvinputfilterfactormode; i++) { MotorSamples[Motor_i][i] = 0; //reset the samples value for control beginning MotorSpeedSamples[Motor_i][i] = 0; } NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits); - temp=(10*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm); + temp=(NORMAL_COEF_DIVIDER*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm); 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*2); + temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm*3/2); DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); return OK; } |