Version 1.4.2.8 improved loading, cleaning introduced, time handled

1 files changed, 34 insertions, 7 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index d3a9b96ef..efb3f99a9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -232,6 +232,16 @@
         //Use Notation How Many Rotations In The Drier, Or Check Against Stopper. Move Slowly
         return OK;
     }
+    uint32_t Thread_Load_Jog_Feeder_To_Middle_Point_Callback(uint32_t deviceID, uint32_t BusyFlag)
+    {
+        {
+            Report("Thread_Load_Jog_Feeder_To_Middle_Point_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
+            //storeLoadArmParameters();
+            LoadStages++;
+            ThreadLoadStateMachine(LoadStages);
+        }
+        return OK;
+    }
 
     uint32_t Thread_Load_HomingCallback(uint32_t MotorId, uint32_t ReadValue)
     {
@@ -396,13 +406,20 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
-        MotorMovetoDancerPosition (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 100, FEEDER_DANCER ,true, Thread_Load_HomingCallback,2000);
+        MotorMovetoDancerPosition (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 100, FEEDER_DANCER ,true, Thread_Load_Jog_Feeder_To_Middle_Point_Callback,2000);
         return OK;
     }
 
     uint32_t Thread_Load_Dryer_MovetoEncoderPosition_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
+        Report("Thread_Load_Dryer_MovetoEncoderPosition_Callback",__FILE__,__LINE__,LoadStages,RpMessage,ReadValue,0);
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200);
+        if(ControlId != 0xFF)
+        {
+            MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
+            RemoveControlCallback(ControlId, ThreadLoadControlCBFunction );
+            ControlId = 0xFF;
+        }
         if (CallbackCounter)
         {
             CallbackCounter--;
@@ -418,17 +435,18 @@
         else
             LOG_ERROR(MotorId, "Thread_Load_HomingCallback Callback is already 0");
 
+        return OK;
     }
     uint32_t Thread_Load_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
         Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
-        if(ControlId != 0xFF)
+        /*if(ControlId != 0xFF)
         {
             MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
             RemoveControlCallback(ControlId, ThreadLoadControlCBFunction );
             ControlId = 0xFF;
-        }
-        //REPORT_MSG(MotorId, "Thread_Load_Dryer_Loading_Callback Motor Id");
+        }*/
+        REPORT_MSG(MotorId, "Thread_Load_Dryer_Loading_Callback Motor Id");
         MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,10000);
         return OK;
     }
@@ -437,13 +455,14 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         LoadArmInfo.LoadArmRounds = 20;
-        uint32_t numberOfSteps = 0;
+        float numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
         SetOriginMotorSpeed(19);
 //        OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
 //        CurrentControlledSpeed[FEEDER_MOTOR] = 1000;
 
         numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
+        //numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*3.3*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
         Report("Thread Load State Machine step.",__FILE__,LoadStages,numberOfSteps,RpMessage,(int)(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius),0);
         MotorControlConfig[FEEDER_MOTOR].m_params.MAX = 1;
         MotorControlConfig[FEEDER_MOTOR].m_params.MIN = MotorsControl[FEEDER_MOTOR].outputproportionalpowerlimit*-1;
@@ -534,7 +553,7 @@
         MotorControlConfig[POOLER_MOTOR].m_params.MIN = MotorsControl[POOLER_MOTOR].outputproportionalpowerlimit*-1;
         MotorControlConfig[POOLER_MOTOR].m_params.Kd = MotorsControl[POOLER_MOTOR].derivativetime;
         MotorControlConfig[POOLER_MOTOR].m_params.Kp = MotorsControl[POOLER_MOTOR].proportionalgain;
-        MotorControlConfig[POOLER_MOTOR].m_params.Ki = MotorsControl[POOLER_MOTOR].integraltime;
+        MotorControlConfig[POOLER_MOTOR].m_params.Ki = 0;//MotorsControl[POOLER_MOTOR].integraltime;
         MotorControlConfig[POOLER_MOTOR].m_params.IntegralErrorMultiplier = MotorsControl[POOLER_MOTOR].setpointramprateorsoftstartramp;
         MotorControlConfig[POOLER_MOTOR].m_params.ProportionalErrorMultiplier = MotorsControl[POOLER_MOTOR].outputonoffhysteresisvalue;
         MotorControlConfig[POOLER_MOTOR].m_params.epsilon = MotorsControl[POOLER_MOTOR].epsilon;
@@ -556,7 +575,7 @@
         MotorControlConfig[WINDER_MOTOR].m_params.MIN = MotorsControl[WINDER_MOTOR].outputproportionalpowerlimit*-1;
         MotorControlConfig[WINDER_MOTOR].m_params.Kd = MotorsControl[WINDER_MOTOR].derivativetime;
         MotorControlConfig[WINDER_MOTOR].m_params.Kp = MotorsControl[WINDER_MOTOR].proportionalgain;
-        MotorControlConfig[WINDER_MOTOR].m_params.Ki = MotorsControl[WINDER_MOTOR].integraltime;
+        MotorControlConfig[WINDER_MOTOR].m_params.Ki = 0;//MotorsControl[WINDER_MOTOR].integraltime;
         MotorControlConfig[WINDER_MOTOR].m_params.IntegralErrorMultiplier = MotorsControl[WINDER_MOTOR].setpointramprateorsoftstartramp;
         MotorControlConfig[WINDER_MOTOR].m_params.ProportionalErrorMultiplier = MotorsControl[WINDER_MOTOR].outputonoffhysteresisvalue;
         MotorControlConfig[WINDER_MOTOR].m_params.epsilon = MotorsControl[WINDER_MOTOR].epsilon;
@@ -682,7 +701,10 @@ uint32_t ThreadLoadButton(THREAD_LOAD_STAGES_ENUM ReadValue)
     {
         ThreadLoadStateMachine(ReadValue);
     }
+    return OK;
 }
+uint32_t LoadCounter = 0;
+
 uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
     //read value is the dancer angle
@@ -741,6 +763,11 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         CurrentControlledSpeed[index] = calculated_speed;
         MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
     }
+    LoadCounter++;
+    if ((LoadCounter % 5001) == 0)
+    {
+          Report("MotorSpeedUpdated",__FILE__,index,abs(TranslatedReadValue),RpWarning,(int)CurrentControlledSpeed[index],0);
+    }
  return OK;
 }
 void ThreadLoadRequest(MessageContainer* requestContainer)