From 99554aaefd61f29be38669d46c7e4a573bec311f Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Tue, 29 Jan 2019 18:33:11 +0200 Subject: Version 1.3.5.3: IDS handling, control track and fixing, and other changes. --- Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 3 +++ 1 file changed, 3 insertions(+) (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 f525e4a04..04a0026bd 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -85,6 +85,9 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request) memcpy (&MotorsControl[Motor_i],request,sizeof(HardwarePidControl)); if (MotorsControl[Motor_i].pvinputfilterfactormode > MAX_CONTROL_SAMPLES) MotorsControl[Motor_i].pvinputfilterfactormode = MAX_CONTROL_SAMPLES; +#ifdef TEST_LONGER_PID_THREAD + 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 NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength); -- cgit v1.3.1