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| author | Roy Ben-Shabat <Roy@Twine-s.com> | 2020-08-03 12:33:07 +0300 |
|---|---|---|
| committer | Roy Ben-Shabat <Roy@Twine-s.com> | 2020-08-03 12:33:07 +0300 |
| commit | d52aaaeb7e732d131146b68a81aa672d9f5f8732 (patch) | |
| tree | 04e161f1c1f3ffe55ebc07682c29da5cf2861717 /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | d2102fd617527a3dc66b6cfdde8db6eb99d1a3eb (diff) | |
| parent | f2a27972ca652ef568e5eede22d86f9698a08cca (diff) | |
| download | Tango-d52aaaeb7e732d131146b68a81aa672d9f5f8732.tar.gz Tango-d52aaaeb7e732d131146b68a81aa672d9f5f8732.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/_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; } |