merge conflicts

1 files changed, 10 insertions, 9 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 856812c12..852c19a1a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -67,6 +67,7 @@
     uint8_t CallbackCounter = 0;
     uint8_t TimeoutsCounter = 0;
 
+    uint32_t UnloadingStart = 0;
     uint8_t NumberOfDrierLoaderCycles = 0;
     uint32_t status = OK;
     uint32_t LoadingControlId = 0xFF,PullerControlId = 0xFF,WinderControlId = 0xFF;
@@ -184,8 +185,6 @@
         {
             Report("Thread_Load_Set_Load_Arm_To_Start_Position_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
             //storeLoadArmParameters();
-            MotorMove(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,LoadArmInfo.LoadArmBackLash );
-
             SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
             LoadStages++;
             ThreadLoadStateMachine(LoadStages);
@@ -215,6 +214,8 @@
 //move to exact location?
 //        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         CallbackCounter = 0;
+        Report("Thread_Load_Set_Load_Arm_To_Stopper time",__FILE__,msec_millisecondCounter - UnloadingStart,msec_millisecondCounter,RpMessage,UnloadingStart,0);
+
         Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
         NumberOfDrierLoaderCycles=0;
         //storeLoadArmParameters();
@@ -614,7 +615,7 @@
         LoadArmInfo.LoadArmRounds = 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);
+        SetOriginMotorSpeed(30);
 //        OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
 //        CurrentControlledSpeed[FEEDER_MOTOR] = 1000;
 
@@ -670,14 +671,14 @@
         CallbackCounter++;
         //MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
         //                       numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 100000);
-        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+        UnloadingStart = msec_millisecondCounter;
+        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,UnloadingStart,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         LoadArmInfo.LoadArmBackLash = 5;
-
         status |= MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
-                                        MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
+                                        MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/2, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
 
         //Keep Notation How Many Rotations In The Dryer
-        LoadArmInfo.LoadArmBackLash = 5;
+        //LoadArmInfo.LoadArmBackLash = 0;
         LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
         load.color = BLINK;
         return OK;
@@ -840,7 +841,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         CurrentControlledSpeed[index] = calculated_speed;
         MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
     }
-    if (index == POOLER_MOTOR)
+   /* if (index == POOLER_MOTOR)
     {
         if ((TranslatedReadValue)<(-1200))
         {
@@ -868,7 +869,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
         }
 
-    }
+    }*/
 /*    LoadCounter++;
     if ((LoadCounter % 5001) == 0)
     {