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- Fixed a sign problem in amorset.c regarding aom and cox

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- Fixed a bad encoding of float values when writing to the SPS
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koennecke
2014-12-04 11:35:26 +01:00
parent ac5aee6062
commit 1cf0e3351a
2 changed files with 3 additions and 2 deletions
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2
amorset.c
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@ -272,7 +272,7 @@ static int updateActualPositions(pamorSet self, SConnection * pCon)
aoz = getListMotorPosition(readList, "aoz");
sah = ABS(calcCompPosition(&self->A) - calcCompPosition(&self->S));
self->actuals2t = Atand((aoz-soz)/sah) + self->actualm2t;
self->actualath = self->actuals2t - self->actualm2t - aom;
self->actualath = -(self->actuals2t - self->actualm2t - aom);
} else {
com = getListMotorPosition(readList, "com");
self->actuals2t = com + self->actualm2t;