From 9a8b53c838134dca38816aac28b119a14dae05bd Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Sun, 10 Jun 2018 08:46:52 +0300 Subject: First print and some winder improvements --- Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (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 0e276fe92..d27b4f94e 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -97,7 +97,7 @@ 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=(100*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm); + temp=(10*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm); NormalizedErrorCoEfficient[Motor_i] = NormalizedErrorCoEfficient[Motor_i] / temp; // uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES]; -- cgit v1.3.1