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

1 files changed, 8 insertions, 11 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index e7a333cc2..21211481e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -794,16 +794,6 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
 }
 uint32_t HandleJobThreadControlParameters(ThreadParameters* ThreadParams)
 {
-    /*
-         FEEDER_MOTOR,
-    DRYER_MOTOR,
-    POOLER_MOTOR,
-    WINDER_MOTOR,
-    MotorControlConfig[Motor_i].m_params.Kd = MotorsControl[Pid_Id].derivativetime;
-    MotorControlConfig[Motor_i].m_params.Kp = MotorsControl[Pid_Id].proportionalgain;
-    MotorControlConfig[Motor_i].m_params.Ki = MotorsControl[Pid_Id].integraltime;
-
-     */
     if (ThreadParams == NULL)
     {
         return OK;
@@ -828,6 +818,7 @@ uint32_t HandleJobThreadControlParameters(ThreadParameters* ThreadParams)
         MotorControlConfig[WINDER_MOTOR].m_params.Ki = ThreadParams->winderi;
     if(ThreadParams->winderd)
         MotorControlConfig[WINDER_MOTOR].m_params.Kd = ThreadParams->winderd;
+    ReportWithPackageFilter(ThreadFilter,"Rockers activity",__FILE__,__LINE__,(int)Thread_Rockers_Bypass,RpWarning,(int)ThreadParams->bypassrockers,0);
     if(ThreadParams->bypassrockers)
         Thread_Rockers_Bypass = true;
 
@@ -850,14 +841,20 @@ uint32_t Release_Right_TFU_Tension()
     {
         Report("Release_Right_TFU_Tension",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_RDANCER,RpMessage,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].pulseperround/4,0);
         RTFU_Up = false;
-        status = MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].pulseperround/2, Release_Right_TFU_TensionCallback,1000);
+        status = MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].pulseperround/4* MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].microstep, Release_Right_TFU_TensionCallback,1000);
     }
 
     return status;
 }
+uint32_t Adjust_Right_TFU_Tension_2nd_Callback(uint32_t MotorId, uint32_t ReadValue)
+{
+    Report("Adjust_Right_TFU_Tension_2ndCallback 4 more steps",__FILE__,__LINE__,MotorId,RpMessage,0,0);
+    return OK;
+}
 uint32_t Adjust_Right_TFU_Tension_Callback(uint32_t MotorId, uint32_t ReadValue)
 {
     Report("Adjust_Right_TFU_Tension_Callback",__FILE__,__LINE__,MotorId,RpMessage,0,0);
+    MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,4* MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].microstep, Release_Right_TFU_TensionCallback,1000);
     RTFU_Up = true;
     return OK;
 }