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| author | Avi Levkovich <avi@twine-s.com> | 2018-06-21 08:37:38 +0300 |
|---|---|---|
| committer | Avi Levkovich <avi@twine-s.com> | 2018-06-21 08:37:38 +0300 |
| commit | a6ace283b5f59f9913b5f0468b417ebd8856b821 (patch) | |
| tree | d74491f59096c19e5e314dabe77a49807019d29f /Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c | |
| parent | ae920233b855e74563b937e7379d5542eb43658a (diff) | |
| parent | e146b0bebe4905bda100b357d3e904b1430c8039 (diff) | |
| download | Tango-a6ace283b5f59f9913b5f0468b417ebd8856b821.tar.gz Tango-a6ace283b5f59f9913b5f0468b417ebd8856b821.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c index 3505ff3c6..e564e52d0 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c @@ -72,6 +72,8 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue) uint32_t status=OK; uint32_t numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep; + MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].maxfrequency); + status |= MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_SCREW, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize),numOfSteps, Winder_ScrewAtOffsetCallback); //set motor location 0 here return status; @@ -180,10 +182,12 @@ uint32_t Winder_Presegment(void *JobDetails) } uint32_t Winder_End(void) { + int pend; //stop screw ScrewNumberOfSteps = 0; if (ScrewControlId != 0xFF) RemoveControlCallback(ScrewControlId,ScrewDirectionChange); + pend = MillisecFlushMsgQ(HARDWARE_MOTOR_TYPE__MOTO_SCREW); return MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz); } void Winder_ScrewHomeLimitSwitchInterrupt(void) |