1. Idle task - test real time usage

2. improve and fix heaters test
3. motor/dancer test preparations

1 files changed, 8 insertions, 2 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 9474ee44d..eacdd2ed9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -53,7 +53,12 @@ uint32_t Winder_PrepareStage2(void)
         return status;
 
 }
-uint32_t Winder_Print(void *JobDetails)
+
+uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue)
+{
+    return PreSegmentReady(Module_Winder,OK);
+}
+uint32_t Winder_Presegment(void *JobDetails)
 {
     JobTicket* JobTicket = JobDetails;
     int process_speed = JobTicket->processparameters->dyeingspeed;
@@ -87,6 +92,7 @@ uint32_t Winder_Print(void *JobDetails)
 //     * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed
 
     //MotorMove (InternalWinderCfg.segmentoffsetpulses,screw_speed); process: set point 0, set max speed, move to the specified length, return back.
+     MotorSetSpeedWithCallback (MOTOR_SCREW, screw_speed, MotorsCfg[SCREW_MOTOR].minmicrostep,WinderPresegmentReady);
     //in a callback: calculate backing rate for top and bottom, update point 0, update passing length, call the appropriate move to 0 / move;
 
     return OK;
@@ -94,7 +100,7 @@ uint32_t Winder_Print(void *JobDetails)
 uint32_t Winder_End(void)
 {
     //stop screw
-    StopMotor (MOTOR_SCREW,1);
+    return StopMotor (MOTOR_SCREW,1);
 }
 void Winder_ScrewHomeLimitSwitchInterrupt(void)
 {