From fd9fba1bab6b9a1db109d48efd92649976af65bc Mon Sep 17 00:00:00 2001 From: XimenaCely <90390883+XimenaCely@users.noreply.github.com> Date: Tue, 24 Oct 2023 15:34:36 -0300 Subject: [PATCH] Update systemLoop.hpp --- embeddedTools/signalAnalysis/systemLoop.hpp | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/embeddedTools/signalAnalysis/systemLoop.hpp b/embeddedTools/signalAnalysis/systemLoop.hpp index 6a60cc8..8900f23 100644 --- a/embeddedTools/signalAnalysis/systemLoop.hpp +++ b/embeddedTools/signalAnalysis/systemLoop.hpp @@ -81,7 +81,7 @@ static void Devices::fes4ChannelLoop(void *para){// timer group 0, ISR dispositivo->fes[i].resetOutputReversePin(); } int8_t j = -1; - for(uint8_t i = 0; i < 4*dispositivo->channelQuantity; i+=3){ + for(uint8_t i = 0; i < 4*dispositivo->channelQuantity; i+=4){ // if(i%3 == 0) j++; if (j >= dispositivo->channelQuantity) @@ -191,16 +191,16 @@ void Devices::fes4channels::timeOnAndPeriodUpdate(const uint32_t &time_on, const fesDivisionCounter[3] = counterMax/9 + 3; fesDivisionCounter[4] = 2*counterMax/9 + 2; fesDivisionCounter[5] = 2*counterMax/9 + 3; - fesDivisionCounter[6] = 3*counterMax/9 + 2; - fesDivisionCounter[7] = 3*counterMax/9 + 3; - fesDivisionCounter[8] = 4*counterMax/9 + 2; - fesDivisionCounter[9] = 4*counterMax/9 + 3; + fesDivisionCounter[6] = 3*counterMax/9 + 1; + fesDivisionCounter[7] = 3*counterMax/9 + 2; + fesDivisionCounter[8] = 4*counterMax/9 + 1; + fesDivisionCounter[9] = 4*counterMax/9 + 2; fesDivisionCounter[10] = 5*counterMax/9 + 2; fesDivisionCounter[11] = 5*counterMax/9 + 3; - fesDivisionCounter[12] = 6*counterMax/9 + 2; - fesDivisionCounter[13] = 6*counterMax/9 + 3; - fesDivisionCounter[14] = 7*counterMax/9 + 2; - fesDivisionCounter[15] = 7*counterMax/9 + 3; + fesDivisionCounter[12] = 6*counterMax/9 + 1; + fesDivisionCounter[13] = 6*counterMax/9 + 2; + fesDivisionCounter[14] = 7*counterMax/9 + 1; + fesDivisionCounter[15] = 7*counterMax/9 + 2; } } @@ -234,4 +234,4 @@ LinAlg::Matrix Devices::fes4channels::TwoDOFLimbControl(double ref1, dou ret(0,0) = u1; ret(0,1) = u2; ret(0,2) = this->pid[0].getErrorValue(); ret(0,3) = this->pid[1].getErrorValue(); ret(0,4) = this->pid[0].getIntegralErrorValue(); ret(0,5) = this->pid[1].getIntegralErrorValue(); return ret; -} \ No newline at end of file +}