Diff: main.cpp

Revision:

23:61526647cc8a

Parent:

22:82871f00f89d

Child:

24:bc852aa89e7a

--- a/main.cpp	Wed Dec 12 08:41:06 2018 +0000
+++ b/main.cpp	Fri Dec 14 09:58:24 2018 +0000
@@ -166,10 +166,10 @@
         mutPathIn.lock(); // Lock relevant mutex
         for(short int i=0; i<N_CHANNELS; i++) { // For each LL
             llcomms.mutChannel[i].lock(); // MUTEX LOCK
-            llcomms.demandPosition[i] = (int) ((dblDemandPosition_mtrs[i]/MAX_ACTUATOR_LENGTH)*8191); // Convert to a 13-bit number
-            llcomms.demandPosition[i] = llcomms.demandPosition[i] & 0x1FFF; // Ensure number is 13-bit
-            llcomms.demandSpeed[i] = (int) ((dblDemandVelocity_mmps[i]/MAX_ACTUATOR_SPEED)*8191);// Convert to a 13-bit number
-            llcomms.demandSpeed[i] = llcomms.demandSpeed[i] & 0x1FFF; // Ensure number is 13-bit
+            llcomms.demandPosition[i] = (int) ((dblDemandPosition_mtrs[i]/MAX_ACTUATOR_LENGTH)*511); // Convert to a 9-bit number
+            llcomms.demandPosition[i] = llcomms.demandPosition[i] & 0x1FF; // Ensure number is 9-bit
+            llcomms.demandSpeed[i] = (int) ((dblDemandVelocity_mmps[i]/MAX_SPEED_MMPS)*511);// Convert to a 9-bit number
+            llcomms.demandSpeed[i] = llcomms.demandSpeed[i] & 0x1FF; // Ensure number is 9-bit
             llcomms.mutChannel[i].unlock(); // MUTEX UNLOCK
             llcomms.isDataReady[i] = 1; // Signal that data ready
         } // end for