diff options
| author | Shlomo Hecht <shlomo@twine-s.com> | 2020-01-06 14:32:44 +0200 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2020-01-06 14:32:44 +0200 |
| commit | f070724e30040ae7cc3fada4c4492ed9e80f8106 (patch) | |
| tree | b8efca9b9f02bcb5d98b53b703df617e9653ddd6 /Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | |
| parent | 3cdc28fb23d0bc5e1a53323d0d0c5f494dad399f (diff) | |
| download | Tango-f070724e30040ae7cc3fada4c4492ed9e80f8106.tar.gz Tango-f070724e30040ae7cc3fada4c4492ed9e80f8106.zip | |
fixes, add dryer control support
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, 3 insertions, 3 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 25c36f3fd..0aff26320 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -685,7 +685,7 @@ LengthCalculationMultiplier = (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].pulleyradius*2*PI)/(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].pulseperround*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].microstep); TotalLoadedLen = 0; DrierPrevLocation = 200; //initial safe value - SpeedTControlId = AddControlCallback(ThreadLoadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+HARDWARE_MOTOR_TYPE__MOTO_RDRIVING),HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,0); + SpeedTControlId = AddControlCallback("Thread length",ThreadLoadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+HARDWARE_MOTOR_TYPE__MOTO_RDRIVING),HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,0); Tinitialpos = 0xFFFF;previousPosition = 0; currentPosition = 0; CallbackCounter++; Report("Thread_Load_Dryer_Loading",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0); @@ -713,7 +713,7 @@ { REPORT_MSG(LoadStages, "Thread Load State Machine step"); ThreadJoggingFunc(20); - LoadingControlId = AddControlCallback(Thread_Load_Jog_ThreadStop, eOneSecond*25,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR); + LoadingControlId = AddControlCallback("Load jog",Thread_Load_Jog_ThreadStop, eOneSecond*25,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR); return OK; } uint32_t Thread_Load_End(void) @@ -1155,7 +1155,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index]; MotorControlConfig[index].m_mesuredParam = NormalizedError; - MotorControlConfig[index].m_calculatedError = AdvancedPIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam, + MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam, &MotorControlConfig[index].m_params, &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral); if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit { |