Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

1 files changed, 8 insertions, 3 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index eacdd2ed9..da0844c3c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -13,6 +13,8 @@ bool Winder_ScrewHoming = false;
 uint32_t Winder_ScrewAtOffsetCallback(uint32_t NumberOfSteps);
 uint32_t Winder_PrepareStage2(void);
 
+double ScrewSpeed = 0;
+
 uint32_t Winder_Init(void)
 {
     return OK;
@@ -20,6 +22,8 @@ uint32_t Winder_Init(void)
 uint32_t Winder_Prepare(void)
 {
     uint32_t status = 0;
+    double ScrewSpeed = (50 *  MotorsCfg[SCREW_MOTOR].pulseperround *  MotorsCfg[SCREW_MOTOR].microstep)/(2*PI* MotorsCfg[SCREW_MOTOR].pulleyradius);
+
     /*
      * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop.
      * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done
@@ -34,7 +38,7 @@ uint32_t Winder_Prepare(void)
     {
         Winder_ScrewHoming = true;
         status = MotorSetDirection(MOTOR_SCREW,1);//make sur to move the cart home
-        status |=  MotorSetSpeed(MOTOR_SCREW, MotorsCfg[SCREW_MOTOR].maxfreq, 8);
+        status |=  MotorSetSpeed(MOTOR_SCREW, ScrewSpeed, MotorsCfg[SCREW_MOTOR].microstep);
     }
     return status;
 }
@@ -62,10 +66,11 @@ uint32_t Winder_Presegment(void *JobDetails)
 {
     JobTicket* JobTicket = JobDetails;
     int process_speed = JobTicket->processparameters->dyeingspeed;
-    int dryer_speed = process_speed * MotorsCfg[DRYER_MOTOR].ratio2dryerspeed; //set dryer_speed_translation_here
     float screw_speed = 0;
     float RotationsPerSecond;
 
+    double ScrewSpeed = (process_speed *  MotorsCfg[SCREW_MOTOR].pulseperround *  MotorsCfg[SCREW_MOTOR].microstep)/(2*PI* MotorsCfg[SCREW_MOTOR].pulleyradius);
+
 /*typedef struct
 {
     uint32_t startoffsetpulses;
@@ -92,7 +97,7 @@ uint32_t Winder_Presegment(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);
+     MotorSetSpeedWithCallback (MOTOR_SCREW, screw_speed, MotorsCfg[SCREW_MOTOR].microstep,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;