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| author | Shlomo Hecht <shlomo@twine-s.com> | 2019-02-18 15:03:18 +0200 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2019-02-18 15:03:18 +0200 |
| commit | 1f1080370a2416d0ef6f762e273cad51758340db (patch) | |
| tree | 8193cfd68b6cf438f9e5927320685a2c6595df5b /Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | |
| parent | ea97c17cfd4cc891a26056d1f14085be7f969716 (diff) | |
| download | Tango-1f1080370a2416d0ef6f762e273cad51758340db.tar.gz Tango-1f1080370a2416d0ef6f762e273cad51758340db.zip | |
Version 1.3.7.3 INIT SEQUENCE - starts heating!. safe control remove in callbacks, watchdog is disabled during init sequence procedures, for now
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index a116bbd66..87478d9cb 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -69,7 +69,7 @@ uint32_t LoadArmBackLash; }LoadArmInfoStruc; LoadArmInfoStruc LoadArmInfo; - char LoadArmPath[50] = "0://SWInfo//LoadArm.msg"; + char LoadArmPath[50] = "0://SysInfo//LoadArm.cfg"; //RUN MOTOR TO SWITCH WITH TIMEOUT //RUN MOTOR TO BREAK SENSOR @@ -341,12 +341,14 @@ { REPORT_MSG(LoadStages, "Thread Load State Machine step"); LoadArmInfo.LoadArmRounds = 20; + uint32_t numberOfSteps = 0; //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40 OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000; + numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius; ControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR); CallbackCounter++; MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize, - MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds, Thread_Load_HomingCallback, 100000); + numberOfSteps, Thread_Load_HomingCallback, 100000); //Keep Notation How Many Rotations In The Dryer //LoadArmInfo.LoadArmBackLash = 0; |