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| author | Roy Ben-Shabat <Roy@Twine-s.com> | 2018-12-05 17:10:53 +0200 |
|---|---|---|
| committer | Roy Ben-Shabat <Roy@Twine-s.com> | 2018-12-05 17:10:53 +0200 |
| commit | 333611ef25aa0a51366cd613f258ffe7575d56b2 (patch) | |
| tree | 3d369b059961eab581a5eae433f88af46ce2088d /Software/Embedded_SW/Embedded/Modules/Thread | |
| parent | 4717b98b45c9e40e1329d3b49b91bfbd3feb50f6 (diff) | |
| parent | df708005176d8085ca069c46084119c4330f9cba (diff) | |
| download | Tango-333611ef25aa0a51366cd613f258ffe7575d56b2.tar.gz Tango-333611ef25aa0a51366cd613f258ffe7575d56b2.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index dc9cfcd6d..2fac46a3c 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -459,7 +459,7 @@ 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 = /*Advanced*/PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam, + MotorControlConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation((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 { |