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

3 files changed, 23 insertions, 2 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 74a07e99c..53ab0e8a2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -200,6 +200,11 @@
     }
     uint8_t CallbackCounter = 0;
     uint8_t TimeoutsCounter = 0;
+    uint8_t LeftMicrostepKeep = 0;
+    uint8_t LeftkvalKeep = 0;
+    uint8_t RightMicrostepKeep = 0;
+    uint8_t RightkvalKeep = 0;
+
     uint32_t Thread_Load_HomingCallback(uint32_t MotorId, uint32_t ReadValue)
     {
         Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
@@ -222,6 +227,13 @@
                 else
                 {
                     LoadStages++;
+                    if (LoadStages == THREAD_LOAD_LIFT_ROCKERS)
+                    {
+                        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, RightMicrostepKeep);
+                        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, LeftMicrostepKeep);
+                        //MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, RightkvalKeep);
+                        //MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, LeftkvalKeep);
+                    }
                     if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this stage we should wait for user call
                     {
                         //ThreadLoadStateMachine(LoadStages);
@@ -270,6 +282,15 @@
     //Machine Is Ready. Send Message, Start Timer To Close Lids, Wait For Operator Response
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
+        LeftMicrostepKeep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].microstep;
+        LeftkvalKeep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].kvalrun;
+        RightMicrostepKeep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep;
+        RightkvalKeep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
+        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 1);
+        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1);
+        //MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 35);
+        //MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 35);
+        Task_sleep(10);
         CallbackCounter++;
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 300,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,12000);
         CallbackCounter++;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index faee55608..d8564963c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -454,7 +454,7 @@ void ScrewTimerInterrupt(int ARG0)
         TimerDisable(Screw_timerBase, TIMER_A);
     }
     ROM_IntMasterEnable();
-    Rotations+=0.1;
+    Rotations+=0.03;
     /*random++;
     if (random >= 2)
         random = -1;*/
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 4131fbca5..9f5ece15a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -751,7 +751,7 @@ uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
     //wait for all motors to get to the required speed (set the target speed for the control to check)
     //call the job state machine when the thread system is ready
     if ((InitialProcess==false) && (EnableIntersegment == true) && (IntersegmentLength >= 1.0)) //fix - avoid intersegment length 0
-    {
+    {//add initial presegment and cleaning before first segment
         ThreadUpdateProcessLength (IntersegmentLength,(void *)ThreadInterSegmentEnded);
         REPORT_MSG (IntersegmentLength," ThreadPreSegmentState IntersegmentLength");
     }