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| author | Mirta <mirta@twine-s.com> | 2020-08-13 14:10:37 +0300 |
|---|---|---|
| committer | Mirta <mirta@twine-s.com> | 2020-08-13 14:10:37 +0300 |
| commit | 70ada335b3136cd2d97d277b03b5148efb76fc23 (patch) | |
| tree | ecdb3761a96c064086138b81e9f0be629f916706 /Software/Embedded_SW/Embedded/Modules/Thread/Thread.h | |
| parent | 83a2fe023aae54f7a296aec76e0ad2e24d2d33f5 (diff) | |
| parent | ccb92223657ac5a21af5aa21d309d9924d9a0fd8 (diff) | |
| download | Tango-70ada335b3136cd2d97d277b03b5148efb76fc23.tar.gz Tango-70ada335b3136cd2d97d277b03b5148efb76fc23.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread.h')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread.h | 10 |
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); |