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

1 files changed, 7 insertions, 3 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 0e68a6406..92939dfe4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -216,7 +216,6 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             avreageSampleValue += MotorSamples[index][i];
         avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
         NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
-if (index != 0) return OK;
         MotorControlConfig[index].m_mesuredParam = NormalizedError;
         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);
@@ -282,7 +281,7 @@ bool InitialProcess = false;
 
             MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize);
     #ifdef DEBUG_TEST_FUNCTIONS
-
+/*
             if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                 ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadLengthCBFunction, eOneMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
             if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
@@ -316,7 +315,7 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
 
     int process_speed = JobTicket->processparameters->dyeingspeed;
 
-    process_speed = 10; //debug
+    process_speed = 50; //debug
 
     for (Motor_i = 0;Motor_i <= WINDER_MOTOR;Motor_i++)
     {
@@ -329,6 +328,11 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
     //ControlStart();
     // set the new speed in the dryer motor to the speed of the new segment
     MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING, OriginalMotorSpd_2PPS[DRYER_MOTOR],  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING].microstep);
+ //only for testing - when control works, these motors will take their speed from the dryer
+    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING, OriginalMotorSpd_2PPS[POOLER_MOTOR],  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDRIVING].microstep);
+ //only for testing - when control works, these motors will take their speed from the dryer
+    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING, OriginalMotorSpd_2PPS[FEEDER_MOTOR],  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].microstep);
+
     MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 1, 1);
     MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1,1);