From d60f78be71fd705cb6bbea8ecb5b5c49858c973e Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Thu, 10 May 2018 13:57:03 +0300 Subject: change motors config, improve initialization and control, first control run --- Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 1 - 1 file changed, 1 deletion(-) (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c') diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 0e68a6406..434ac0f21 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -216,7 +216,6 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) avreageSampleValue += MotorSamples[index][i]; avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode; NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index]; -if (index != 0) return OK; MotorControlConfig[index].m_mesuredParam = NormalizedError; MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam, &MotorControlConfig[index].m_params, &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral); -- cgit v1.3.1