From 0d5c2e03b1f0e06cd307eaa2d5b7eaab894126d5 Mon Sep 17 00:00:00 2001 From: Avi Levkovich Date: Wed, 13 Jun 2018 09:45:52 +0300 Subject: update I2C --- Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c') diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index e2d492b47..0e276fe92 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -17,7 +17,6 @@ HardwarePidControl MotorsControl[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}; -double DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM] = {0}; InternalWinderConfigStruc InternalWinderCfg = {0}; HardwareDancer DancersCfg[MAX_SYSTEM_DANCERS] = {0}; @@ -98,11 +97,10 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) MotorSamples[Motor_i][i] = 0; //reset the samples value for control beginning 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); + temp=(100*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm); NormalizedErrorCoEfficient[Motor_i] = NormalizedErrorCoEfficient[Motor_i] / temp; // uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; - DancerStopActivityLimit[Motor_i] = ((1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits)*(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm)*2)); - DancerStopActivityLimit[Motor_i] = DancerStopActivityLimit[Motor_i]/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); + return OK; } uint32_t DancerConfigMessage(HardwareDancer * request) -- cgit v1.3.1