merge

1 files changed, 10 insertions, 0 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index c912bca21..aea0dd93a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -42,6 +42,15 @@ typedef struct
     PID_Config_Params   m_params;
 }MotorControlConfig_t;
 
+#ifdef FOUR_WINDERS
+#define SCREW_2_Motor  HARDWARE_MOTOR_TYPE__MOTO_SPARE2_1
+#define SCREW_3_Motor  HARDWARE_MOTOR_TYPE__MOTO_SPARE1_1
+#define SCREW_4_Motor  HARDWARE_MOTOR_TYPE__MOTO_RDANCER
+#define Winder_2_Motor HARDWARE_MOTOR_TYPE__MOTO_SPARE2_2
+#define Winder_3_Motor HARDWARE_MOTOR_TYPE__MOTO_SPARE1_2
+#define Winder_4_Motor HARDWARE_MOTOR_TYPE__MOTO_RLOADARM
+#endif
+
 
 #define MAX_THREAD_FEED_MOTORS (WINDER_MOTOR+1)
 #define MAX_SYSTEM_DANCERS (HARDWARE_DANCER_TYPE__RightDancer+1)
@@ -84,6 +93,7 @@ uint32_t DancerConfigMessage(HardwareDancer * request);
 uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read);
 
 void SetOriginMotorSpeed(float process_speed);
+uint32_t UpdatePidDuringRun(HardwarePidControl *hardwarepidcontrol);
 
 uint32_t ThreadPrepare_Tension (int DancerId, double tension);