From d7e484a764d761afa0a55efd82e1fd2c3b338270 Mon Sep 17 00:00:00 2001 From: Shlomo Hecht Date: Mon, 14 May 2018 13:38:20 +0300 Subject: PID&dancers --- Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 2 ++ 1 file changed, 2 insertions(+) (limited to 'Software/Embedded_SW/Embedded/Modules/Thread') diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 48c985321..4477835d0 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -210,6 +210,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { DancerId = ThreadMotorIdToDancerId[index]; TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint; + if (index == POOLER_MOTOR) + TranslatedReadValue = (-1*TranslatedReadValue); MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue); MotorSamplePointer[index]++; if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode) MotorSamplePointer[index] = 0; -- cgit v1.3.1