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

3 files changed, 15 insertions, 16 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index c68156e68..a860c553c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -202,7 +202,7 @@
         MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);*/
 
         MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz);
-
+//move to exact location?
 //        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         CallbackCounter = 0;
         Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
@@ -375,9 +375,9 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,4000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,10000);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,10000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
 
         return OK;
     }
@@ -497,7 +497,7 @@
         MotorControlConfig[FEEDER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage
         MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize);
 
-        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4);
+        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
 
         LoadingControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
         Report("AddControlCallback feeder",__FILE__,__LINE__,LoadingControlId,RpMessage,IfTypeThread*0x100+FEEDER_MOTOR,0);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index fdd17fed4..bf0f361fd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -302,7 +302,6 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
                 LOG_ERROR(Add100, "Add100 = true");
             }
 //            WinderMotorSpeedCounter=0;
-            WinderMotorSpeedRollOver=true;
         }
 //    }
     if (flipflop == 0)
@@ -331,20 +330,17 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
      if ((WinderRun < 30000)&&(WinderMotorSpeedRollOver == true))
      {
          WinderRunSamples++;
-         if (WinderRunSamples>10)
+         WinderRunSum+=WinderRun;
+         WinderRunAverage = WinderRunSum/WinderRunSamples;
+         if ((fabs(WinderRun-WinderRunAverage)>=30)||(WinderRunSamples%100 == 0))
          {
-             WinderRunSum+=WinderRun;
-             WinderRunAverage = WinderRunSum/(WinderRunSamples);
-             if ((fabs(WinderRun-WinderRunAverage)>=30)||(WinderRunSamples%100 == 0))
-             {
-                 usnprintf(ScrewStr, 150, "curr,sum,avg,samples {Winder Encoder:, %d, %d, %d, %d, %d}",WinderRun,(int)WinderRunSum,(int)WinderRunAverage,(int)WinderRunSamples,
-                           (int)(100*WinderRun/ScrewNumberOfSteps));
-                 Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
-             }
+             usnprintf(ScrewStr, 150, "curr,sum,avg,samples {Winder Encoder:, %d, %d, %d, %d, %d}",WinderRun,(int)WinderRunSum,(int)WinderRunAverage,(int)WinderRunSamples,
+                       (int)(100*WinderRun/ScrewNumberOfSteps));
+             Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
          }
      }
-     else
-         Report("winder run error value" ,__FILE__,WinderRun,ScrewLocationRun[0],RpWarning,ScrewLocationRun[1], 0);
+     //else
+     //    Report("winder run error value" ,__FILE__,WinderRun,ScrewLocationRun[0],RpWarning,ScrewLocationRun[1], 0);
 
          //Report(ScrewStr,__FILE__,__LINE__,CalculationDirectionChangeCounter,RpWarning,ScrewLocationStart, 0);
     //REPORT_MSG(abs(ScrewLocationRun[1] - ScrewLocationRun[0]), "Screw Run NumberOfSteps");
@@ -360,6 +356,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         {
             ScrewNumberOfSteps += 100;
             Add100 = false;
+            WinderMotorSpeedRollOver=true;
         }
 
         if ((CalculationDirectionChangeCounter/2)%InternalWinderCfg.spoolbackingrate == 0)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 59542ec38..47fc37081 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -729,6 +729,8 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
     EnableIntersegment = JobTicket->enableintersegment;
     IntersegmentLength = JobTicket->intersegmentlength;
 
+    MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, Hard_Stop);
+
 
     //start thread control for all motors
     for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)