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| author | Shlomo Hecht <shlomo@twine-s.com> | 2019-09-26 12:32:54 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2019-09-26 12:32:54 +0300 |
| commit | 387c1ee40b7bce5edd92491dc8d9edeb30a02524 (patch) | |
| tree | a935cdc365230ab4d4e324c5c1712ffe4ba39b60 /Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | |
| parent | 771b7e5014a6023e660139100bb9221f86474a2b (diff) | |
| download | Tango-387c1ee40b7bce5edd92491dc8d9edeb30a02524.tar.gz Tango-387c1ee40b7bce5edd92491dc8d9edeb30a02524.zip | |
fix bug where thread jogging caused next jobs to be without ink, and other small problems
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 9ad42d739..c68156e68 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -567,13 +567,13 @@ { REPORT_MSG(LoadStages, "Thread UnLoad State Machine step"); LoadArmInfo.LoadArmRounds = 0; - uint32_t numberOfSteps = 0; + //uint32_t numberOfSteps = 0; //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40 SetOriginMotorSpeed(19); // OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000; // CurrentControlledSpeed[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; + //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; MotorControlConfig[POOLER_MOTOR].m_params.MAX = 1; MotorControlConfig[POOLER_MOTOR].m_params.MIN = MotorsControl[POOLER_MOTOR].outputproportionalpowerlimit*-1; MotorControlConfig[POOLER_MOTOR].m_params.Kd = MotorsControl[POOLER_MOTOR].derivativetime; |