diff options
| author | Avi Levkovich <avi@twine-s.com> | 2020-07-13 17:54:47 +0300 |
|---|---|---|
| committer | Avi Levkovich <avi@twine-s.com> | 2020-07-13 17:54:47 +0300 |
| commit | 5f72798aaff5d2200c939f522bcc92ff7471d2af (patch) | |
| tree | ae0864ad4a3bd83f0c2e0d01fb1cdd89e3195e97 /Software/Embedded_SW/Embedded/Modules/Thread | |
| parent | 7707bbff3cf8d37d9cab419353ce8d6f28a482b0 (diff) | |
| download | Tango-5f72798aaff5d2200c939f522bcc92ff7471d2af.tar.gz Tango-5f72798aaff5d2200c939f522bcc92ff7471d2af.zip | |
Decrease the delay in I2C communication from 5000 ticks to 100 + add wait until bus is not busy, add I2C task trigger to init the I/O extenders , move to 16 bit in I2C I/O extenders, remove unnecessary delays...
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 6 |
1 files changed, 3 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 8a4960433..c27725b68 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -799,21 +799,21 @@ uint32_t HandleJobThreadControlParameters(ThreadParameters* ThreadParams) return OK; } if(ThreadParams->feederp) - MotorControlConfig[FEEDER_MOTOR].m_params.Kd = ThreadParams->feederp; + MotorControlConfig[FEEDER_MOTOR].m_params.Kp = ThreadParams->feederp; if(ThreadParams->feederi) MotorControlConfig[FEEDER_MOTOR].m_params.Ki = ThreadParams->feederi; if(ThreadParams->feederd) MotorControlConfig[FEEDER_MOTOR].m_params.Kd = ThreadParams->feederd; if(ThreadParams->pullerp) - MotorControlConfig[POOLER_MOTOR].m_params.Kd = ThreadParams->pullerp; + MotorControlConfig[POOLER_MOTOR].m_params.Kp = ThreadParams->pullerp; if(ThreadParams->pulleri) MotorControlConfig[POOLER_MOTOR].m_params.Ki = ThreadParams->pulleri; if(ThreadParams->pullerd) MotorControlConfig[POOLER_MOTOR].m_params.Kd = ThreadParams->pullerd; if(ThreadParams->winderp) - MotorControlConfig[WINDER_MOTOR].m_params.Kd = ThreadParams->winderp; + MotorControlConfig[WINDER_MOTOR].m_params.Kp = ThreadParams->winderp; if(ThreadParams->winderi) MotorControlConfig[WINDER_MOTOR].m_params.Ki = ThreadParams->winderi; if(ThreadParams->winderd) |