diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 6 |
1 files changed, 6 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 c277dd5df..4454565c1 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -22,6 +22,9 @@ MotorDriverConfigStruc MotorsCfg[NUM_OF_MOTORS]={0}; HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0}; +int32_t MotorSpeedSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0}; +int MotorSpeedSamplePointer[MAX_THREAD_MOTORS_NUM] = {0}; + int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0}; int MotorSamplePointer[MAX_THREAD_MOTORS_NUM] = {0}; double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM] = {0}; @@ -104,7 +107,10 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) MotorsControl[Motor_i].pvinputfilterfactormode = 10; //test longer control #endif for (i = 0;i < MotorsControl[Motor_i].pvinputfilterfactormode; i++) + { MotorSamples[Motor_i][i] = 0; //reset the samples value for control beginning + MotorSpeedSamples[Motor_i][i] = 0; + } NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits); temp=(10*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm); |