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

1 files changed, 7 insertions, 2 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 41daa4002..f641737ee 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -21,8 +21,10 @@ double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM] = {0};
 int DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM] = {0};
 HardwareDancer DancersCfg[MAX_SYSTEM_DANCERS] = {0};
 
+#define BREAK_SENSOR_LIMIT 10
+
 bool BreakSensorenabled;
-int32_t BreakSensordebouncetimemilli;
+int32_t BreakSensordebouncetimemilli = BREAK_SENSOR_LIMIT;
 
 HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_PID_CONTROL_TYPE__MotorFeeder,HARDWARE_PID_CONTROL_TYPE__MotorDryer,HARDWARE_PID_CONTROL_TYPE__MotorPooler,HARDWARE_PID_CONTROL_TYPE__MotorWinder,0};
 
@@ -116,7 +118,10 @@ uint32_t ThreadConfigBreakSensor(void *request)
     if (SensorCfg)
     {
         BreakSensorenabled = SensorCfg->enabled;
-        BreakSensordebouncetimemilli = SensorCfg->debouncetimemilli;
+        if (SensorCfg->debouncetimemilli)
+        {
+            BreakSensordebouncetimemilli = SensorCfg->debouncetimemilli;
+        }
         return OK;
     }
     return ERROR;