From d113295a432e33e6b7ccbcc948342d7f570d461c Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Sun, 2 Aug 2020 08:26:40 +0300 Subject: Version 1.4.6.36 and procedures --- Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c | 4 ++++ 1 file changed, 4 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 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; } -- cgit v1.3.1