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

2 files changed, 16 insertions, 0 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 2961bd105..c5e3edc85 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -27,6 +27,7 @@ uint32_t InternalWindingConfigMessage(JobSpool* request);
 uint32_t ThreadConfigBreakSensor(void *request);
 
 uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId);
+double ThreadGetMotorCalculatedError(int DancerId);
 uint32_t ThreadPrepareState(void *JobDetails);
 uint32_t ThreadPreSegmentState(void *JobDetails);
 uint32_t ThreadSegmentState(void *JobDetails, int SegmentId);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index dec3b8323..576a2bd5a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -490,6 +490,21 @@ uint32_t ThreadGetMotorSpeed(threadMotorsEnum MotorId)
 {
     return  CurrentControlledSpeed[MotorId];
 }
+//********************************************************************************************************************
+double ThreadGetMotorCalculatedError(int DancerId)
+{
+    switch (DancerId)
+    {
+        case FEEDER_DANCER:
+            return  (double)MotorControlConfig[FEEDER_MOTOR].m_calculatedError;
+        case POOLER_DANCER:
+            return  (double)MotorControlConfig[POOLER_MOTOR].m_calculatedError;
+        case WINDER_DANCER:
+            return  (double)MotorControlConfig[WINDER_MOTOR].m_calculatedError;
+
+    }
+    return 0;
+}
 
 //********************************************************************************************************************
 uint32_t ThreadInitialTestStub(HardwareMotor * request)