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| author | Victoria Plitt <Victoria.Plitt@twine-s.com> | 2020-08-05 00:28:48 +0300 |
|---|---|---|
| committer | Victoria Plitt <Victoria.Plitt@twine-s.com> | 2020-08-05 00:28:48 +0300 |
| commit | cd8ef321bd713d967fa0f436bd6720566a71c66a (patch) | |
| tree | 7684de6993ae237d49e3ddf148148a3cc47c9b62 /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | 054b6ca55142fae5bb30a9b8f3301f7e71a92296 (diff) | |
| parent | b9700510ad42a7b869596924edb03ad38c47675c (diff) | |
| download | Tango-cd8ef321bd713d967fa0f436bd6720566a71c66a.tar.gz Tango-cd8ef321bd713d967fa0f436bd6720566a71c66a.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 | 4 |
1 files changed, 4 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 39ff91558..bbb3e4040 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -146,6 +146,10 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) // 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); + if (Motor_i == WINDER_MOTOR) + { + temp = temp*3/2; + } DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); return OK; } |