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| author | Roy Ben-Shabat <Roy@Twine-s.com> | 2018-06-17 19:06:27 +0300 |
|---|---|---|
| committer | Roy Ben-Shabat <Roy@Twine-s.com> | 2018-06-17 19:06:27 +0300 |
| commit | 51f5ba90ccdba8793a0ce600a8c42264d3770623 (patch) | |
| tree | 75f61f17eecaf1e13467ddf60072c23cba4232ec /Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | |
| parent | 7658a8546a9c33a76376dff3ab646f2aceaf0a01 (diff) | |
| parent | fea549ee67c5f46de9fec9a918156564f7a5aade (diff) | |
| download | Tango-51f5ba90ccdba8793a0ce600a8c42264d3770623.tar.gz Tango-51f5ba90ccdba8793a0ce600a8c42264d3770623.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 7b5da0e65..e9cc3ddde 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -37,6 +37,7 @@ HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANC uint32_t ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF}; uint32_t SpeedControlId=0xFF; +double DancerError[NUM_OF_DANCERS] = {0.0}; int OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {0}; uint32_t JobCounter = 0; typedef struct @@ -304,6 +305,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) } NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index]; MotorControlConfig[index].m_mesuredParam = NormalizedError; + DancerError[DancerId] = NormalizedError; MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam, &MotorControlConfig[index].m_params, &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral); if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit @@ -544,10 +546,10 @@ uint32_t ThreadSegmentState(void *JobDetails, int SegmentId) { RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction); } - StopMotor(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz); + MotorStop(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz); } - StopMotor(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,Hard_Hiz); - StopMotor(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,Hard_Hiz); + MotorStop(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,Hard_Hiz); + MotorStop(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,Hard_Hiz); return OK; } |