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| author | Shlomo Hecht <shlomo@twine-s.com> | 2020-08-02 08:26:40 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2020-08-02 08:26:40 +0300 |
| commit | d113295a432e33e6b7ccbcc948342d7f570d461c (patch) | |
| tree | 86620e9c44c80a162052636da65a7f105d182daf /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | bf989bcfa848e20f8bd27aa71acc2fbdee38f57b (diff) | |
| download | Tango-d113295a432e33e6b7ccbcc948342d7f570d461c.tar.gz Tango-d113295a432e33e6b7ccbcc948342d7f570d461c.zip | |
Version 1.4.6.36 and procedures
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; } |