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| author | Avi Levkovich <avi@twine-s.com> | 2019-03-19 18:44:37 +0200 |
|---|---|---|
| committer | Avi Levkovich <avi@twine-s.com> | 2019-03-19 18:44:37 +0200 |
| commit | 9ebd205980f2203339b2dca2a92038dc06d0f43e (patch) | |
| tree | 84f1cf2668ec5a0fce0930832e011b6cf40a1c2a /Software/Embedded_SW/Embedded/Modules/Thread | |
| parent | 8a484dde0e0f082f0e70ecea4c930a81aee29927 (diff) | |
| parent | 69a41da59eb41a681e644505d5e7814c2c4f6973 (diff) | |
| download | Tango-9ebd205980f2203339b2dca2a92038dc06d0f43e.tar.gz Tango-9ebd205980f2203339b2dca2a92038dc06d0f43e.zip | |
Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c index ddcba57bc..d8a96a4d9 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c @@ -418,6 +418,7 @@ void ScrewsStartControlTimer (void) return; } +int random = 0; void ScrewTimerInterrupt(int ARG0) { ROM_TimerIntClear(Screw_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt @@ -427,7 +428,7 @@ void ScrewTimerInterrupt(int ARG0) { ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime); MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection); - MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); + MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed+random); ScrewChangeCounter = 0; ScrewChangeLimit = ScrewRunningTime/12000000; ScrewDirectionChangeCounter++; @@ -437,6 +438,9 @@ void ScrewTimerInterrupt(int ARG0) TimerDisable(Screw_timerBase, TIMER_A); } ROM_IntMasterEnable(); + random++; + if (random >= 2) + random = -1; //Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0); // // Enable all interrupts. |