diff options
| author | Shlomo Hecht <shlomo@twine-s.com> | 2020-11-18 16:24:06 +0200 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2020-11-18 16:24:06 +0200 |
| commit | 2d453e76dbc75ed10c7e953f735d9aedcbfd3529 (patch) | |
| tree | 69cbffb18186f8fed6777e34c00b57a24d414564 /Software/Embedded_SW/Embedded/Drivers | |
| parent | e29b3fcf2531b0c50cf1707e552ba72baa060800 (diff) | |
| download | Tango-2d453e76dbc75ed10c7e953f735d9aedcbfd3529.tar.gz Tango-2d453e76dbc75ed10c7e953f735d9aedcbfd3529.zip | |
fixes
Diffstat (limited to 'Software/Embedded_SW/Embedded/Drivers')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c index 779d7e82f..ae862505a 100644 --- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c +++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c @@ -354,7 +354,7 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO { angle = Calculate_Arm_Distance(Arm_Drier_Center,temp); - if ((angle<400)||(angle>16000)) + if (abs(angle)<400) { BusyFlag = NOTBUSY; } @@ -376,7 +376,7 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO Report("motor timeout",__FILE__,__LINE__,MotorId,RpMessage,MotorTimeout[MotorId],0); Busy = BUSY; } - Report("MotorRunCallBackFunctionMotorRunCallBackFunction curr prev return",__FILE__,encoder,temp,RpWarning,AccumulatedArmMovement,0); + Report("MotorRunCallBackFunction curr prev return",__FILE__,encoder,temp,RpWarning,AccumulatedArmMovement,0); //call the module callback if (MotorCallback[MotorId]) { @@ -1128,10 +1128,10 @@ float Calculate_Arm_Angle(uint32_t Drier_Center,uint32_t Current_Angle) int Calculate_Arm_Distance(uint32_t Drier_Center,uint32_t Current_Angle) { int angle; - if (Current_Angle >= Drier_Center) + //if (Current_Angle >= Drier_Center) angle = Current_Angle - Drier_Center; - else - angle = Current_Angle + 0x3FFF - Drier_Center; + //else + // angle = Current_Angle + 0x3FFF - Drier_Center; ReportWithPackageFilter(DiagnosticsFilter,"Calculate_Arm_Distance",__FILE__,angle,Current_Angle,RpMessage,Drier_Center,0); return angle; } @@ -1163,7 +1163,7 @@ uint32_t LoadingArmReset_Callback(uint32_t MotorId, uint32_t ReadValue) { ReportWithPackageFilter(DiagnosticsFilter,"LoadingArmReset_Callback OK",__FILE__,__LINE__,Arm_Drier_Center,RpMessage,ReadValue,0); MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,0); - if ((angle<400)||(angle>16000)) + if (abs(angle)<400) //if (fabs(angle)<0.2) { ReportWithPackageFilter(DiagnosticsFilter,"drier center proximity",__FILE__,temp,Arm_Drier_Center,RpMessage,angle,0); |