diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 4 | ||||
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 2 |
2 files changed, 5 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index 39ff91558..bbb3e4040 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -146,6 +146,10 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) // uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits); temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);//*3/2); + if (Motor_i == WINDER_MOTOR) + { + temp = temp*3/2; + } DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); return OK; } diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index c67619e20..f403eeeab 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -723,7 +723,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { if (calculated_speed>(CurrentControlledSpeed[index]+100)) { - ReportWithPackageFilter(ThreadFilter,"limit acceleration",__FILE__,calculated_speed,CurrentControlledSpeed[index],RpError,CurrentControlledSpeed[index]+100,0); + ReportWithPackageFilter(ThreadFilter,"limit acceleration",__FILE__,calculated_speed,CurrentControlledSpeed[index],RpError,index,0); calculated_speed=CurrentControlledSpeed[index]+100; } CurrentControlledSpeed[index] = calculated_speed; |