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Update systemLoop.hpp #31

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Update systemLoop.hpp #31

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20 changes: 10 additions & 10 deletions embeddedTools/signalAnalysis/systemLoop.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down Expand Up @@ -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;
}
}

Expand Down Expand Up @@ -234,4 +234,4 @@ LinAlg::Matrix<double> 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;
}
}