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

1 files changed, 10 insertions, 2 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index ba505493d..4ced1e5fe 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -629,6 +629,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 			//pooler dancer is right sided: data is opposite
             TranslatedReadValue = (-1*TranslatedReadValue);
         }
+#ifdef BTSR_ROTATED_WINDER_TFU
+        if (index == WINDER_MOTOR)
+                TranslatedReadValue = (-1*TranslatedReadValue);
+#endif
 #ifdef FOUR_WINDERS
         if (index == WINDER_MOTOR)
         {
@@ -653,7 +657,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             TranslatedReadValue = (-1*TranslatedReadValue);
         }*/
 #endif
-        if (index == POOLER_MOTOR)
+        if (index == WINDER_MOTOR)
         {
             //pooler dancer is right sided: data is opposite
             JobCounter++;
@@ -710,6 +714,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         {
             NormalizedError = (-1*NormalizedError);
         }
+/*#ifdef BTSR_ROTATED_WINDER_TFU
+        if (index == WINDER_MOTOR)
+                TranslatedReadValue = (-1*TranslatedReadValue);
+#endif*/
 
         MotorControlConfig[index].m_mesuredParam = NormalizedError;
         DancerError[DancerId] = NormalizedError;
@@ -1061,7 +1069,7 @@ uint32_t ThreadPrepare_Tension (int DancerId, double tension)
     return status;
 }
 //********************************************************************************************************************
-bool SkipOpenLids = true;
+bool SkipOpenLids = false;
 uint32_t ThreadPrepareState(void *JobDetails)
 {
     int Motor_i,i, HW_Motor_Id, Pid_Id;