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| author | Roy Ben Shabat <Roy.mail.net@gmail.com> | 2020-08-03 12:36:24 +0300 |
|---|---|---|
| committer | Roy Ben Shabat <Roy.mail.net@gmail.com> | 2020-08-03 12:36:24 +0300 |
| commit | f2a27972ca652ef568e5eede22d86f9698a08cca (patch) | |
| tree | 6c55d21cba6bfa8587d95fd27e17a5ec423b3b0d /Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | |
| parent | bd1221e36ee3e493dc25bd32559f846519fe60d0 (diff) | |
| parent | 05fc7b1f37ecc809acf65422a799a4d761b78acb (diff) | |
| download | Tango-f2a27972ca652ef568e5eede22d86f9698a08cca.tar.gz Tango-f2a27972ca652ef568e5eede22d86f9698a08cca.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; } |