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| author | Shlomo Hecht <shlomo@twine-s.com> | 2018-06-10 08:46:52 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2018-06-10 08:46:52 +0300 |
| commit | 9a8b53c838134dca38816aac28b119a14dae05bd (patch) | |
| tree | 42f39c10cbd5008d97d2bec4c66466250b86930b /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | 755fe04412ec5ae662636863167cc43a5f5e238b (diff) | |
| download | Tango-9a8b53c838134dca38816aac28b119a14dae05bd.tar.gz Tango-9a8b53c838134dca38816aac28b119a14dae05bd.zip | |
First print and some winder improvements
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 0e276fe92..d27b4f94e 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -97,7 +97,7 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) MotorSamples[Motor_i][i] = 0; //reset the samples value for control beginning NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits); - temp=(100*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm); + 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]; |