Merge branch 'master' of https://twinetfs.visualstudio.com/Tango/_git/Tango

1 files changed, 18 insertions, 17 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index a82fe37e6..74a07e99c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -38,21 +38,21 @@
 /*    typedef enum
     {
         0 THREAD_LOAD_INIT,
-        1 THREAD_LOAD_REDUCE_HEAT,  //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW,
-        2 THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION,//USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY
-        3 THREAD_LOAD_CENTER_HEAD_ROCKERS,  //puthead cleaning rockers to middle position
-        4 THREAD_LOAD_OPEN_COVERS,  //OPEN DYEING HEAD COVER AND DRYER LID
+        1 THREAD_LOAD_REDUCE_HEAT,                           //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW,
+        2 THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION,        //USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY
+        3 THREAD_LOAD_CENTER_HEAD_ROCKERS,                   //puthead cleaning rockers to middle position
+        4 THREAD_LOAD_OPEN_COVERS,                           //OPEN DYEING HEAD COVER AND DRYER LID
         5 THREAD_LOAD_LIFT_DANCERS,
-        6 THREAD_LOAD_LIFT_ROCKERS, //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
-        7 THREAD_LOAD_INITIAL_TENSION,//CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
+        6 THREAD_LOAD_LIFT_ROCKERS,                          //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
+        7 THREAD_LOAD_INITIAL_TENSION,                       //CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
         8 THREAD_LOAD_CLOSE_ROCKERS,
-        9 THREAD_LOAD_CLOSE_DANCERS, //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
+        9 THREAD_LOAD_CLOSE_DANCERS,                         //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
         10 THREAD_LOAD_CLOSE_LIDS,
         11 THREAD_LOAD_RESUME_HEATING,
-        12 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,//JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
-        13 THREAD_LOAD_DRYER_LOADING, //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
-                                    //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER
-        14 THREAD_LOAD_JOG_THREAD, //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
+        12 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,           //JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
+        13 THREAD_LOAD_DRYER_LOADING,                        //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
+                                                             //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER
+        14 THREAD_LOAD_JOG_THREAD,                           //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
         15 THREAD_LOAD_END
     }THREAD_LOAD_STAGES_ENUM;*/
     THREAD_LOAD_STAGES_ENUM LoadStages = THREAD_LOAD_INIT;
@@ -222,9 +222,9 @@
                 else
                 {
                     LoadStages++;
-                    if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
+                    if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this stage we should wait for user call
                     {
-                        ThreadLoadStateMachine(LoadStages);
+                        //ThreadLoadStateMachine(LoadStages);
                     }
                 }
             }
@@ -340,7 +340,7 @@
         {
             Control_Dryer_Fan(START,75);//use START or STOP,  0 - 100%
             LoadStages++;
-            ThreadLoadStateMachine(LoadStages);
+            //ThreadLoadStateMachine(LoadStages);
         }
         return OK;
     }
@@ -357,6 +357,7 @@
     {
         Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         REPORT_MSG(MotorId, "Thread_Load_Dryer_Loading_Callback Motor Id");
+        MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,0,0);
         if(ControlId != 0xFF)
         {
             MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
@@ -371,7 +372,7 @@
                 LoadStages++;
                 if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
                 {
-                    ThreadLoadStateMachine(LoadStages);
+                    //ThreadLoadStateMachine(LoadStages);
                 }
             }
         }
@@ -417,7 +418,7 @@
 
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
-        //LoadArmInfo.LoadArmRounds = 0xFF;
+        LoadArmInfo.LoadArmRounds = 0xFF;
         FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath);
         return OK;
     }
@@ -428,7 +429,7 @@
         ControlId = 0xFF;
         ThreadAbortJoggingFunc();
         LoadStages++;
-        ThreadLoadStateMachine(LoadStages);
+        //ThreadLoadStateMachine(LoadStages);
         return OK;
     }
     uint32_t Thread_Load_Jog_Thread(void)