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| author | Shlomo Hecht <shlomo@twine-s.com> | 2019-01-29 18:33:11 +0200 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2019-01-29 18:33:11 +0200 |
| commit | 99554aaefd61f29be38669d46c7e4a573bec311f (patch) | |
| tree | 16bf2b5582424c961f87f4dc543f36f2167e6d08 /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | 4b7e196fe51e5a93b3c8090bbb43d05e3e6fd370 (diff) | |
| download | Tango-99554aaefd61f29be38669d46c7e4a573bec311f.tar.gz Tango-99554aaefd61f29be38669d46c7e4a573bec311f.zip | |
Version 1.3.5.3: IDS handling, control track and fixing, and other changes.
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index f525e4a04..04a0026bd 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -85,6 +85,9 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) memcpy (&MotorsControl[Motor_i],request,sizeof(HardwarePidControl)); if (MotorsControl[Motor_i].pvinputfilterfactormode > MAX_CONTROL_SAMPLES) MotorsControl[Motor_i].pvinputfilterfactormode = MAX_CONTROL_SAMPLES; +#ifdef TEST_LONGER_PID_THREAD + MotorsControl[Motor_i].pvinputfilterfactormode = 10; //test longer control +#endif for (i = 0;i < MotorsControl[Motor_i].pvinputfilterfactormode; i++) MotorSamples[Motor_i][i] = 0; //reset the samples value for control beginning NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); |