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| author | Shlomo Hecht <shlomo@twine-s.com> | 2018-05-14 13:38:20 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2018-05-14 13:38:20 +0300 |
| commit | d7e484a764d761afa0a55efd82e1fd2c3b338270 (patch) | |
| tree | 9db99b4c85ed3c52a090e815ddbe365c940f4b06 /Software/Embedded_SW/Embedded/Modules/Thread | |
| parent | 0ce07808cf18f02ade0bf634428e15b8f20f02b7 (diff) | |
| download | Tango-d7e484a764d761afa0a55efd82e1fd2c3b338270.tar.gz Tango-d7e484a764d761afa0a55efd82e1fd2c3b338270.zip | |
PID&dancers
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, 2 insertions, 0 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 48c985321..4477835d0 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -210,6 +210,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { DancerId = ThreadMotorIdToDancerId[index]; TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint; + if (index == POOLER_MOTOR) + TranslatedReadValue = (-1*TranslatedReadValue); MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue); MotorSamplePointer[index]++; if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode) MotorSamplePointer[index] = 0; |