Take the remot

1 files changed, 27 insertions, 0 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 47fc37081..45acfabea 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -49,6 +49,7 @@ uint32_t    PoolerSpeedControlId=0xFF;
 
 double DancerError[NUM_OF_DANCERS] = {0.0};
 double OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {0};
+double InitialDryerSpeed = 0.0;
 uint32_t JobCounter = 0;
 
 MotorControlConfig_t MotorControlConfig[MAX_THREAD_MOTORS_NUM];
@@ -852,6 +853,7 @@ void SetOriginMotorSpeed(float process_speed)
                 / (2 * PI * MotorsCfg[HW_Motor_Id].pulleyradius);
         //MotorControlConfig[Motor_i].m_SetParam = motor_speed;
         OriginalMotorSpd_2PPS[Motor_i] = (int) motor_speed;
+        InitialDryerSpeed = 0.0;
         CurrentControlledSpeed[Motor_i] = (int) motor_speed;
         //Report("Original Speed",__FILE__,Motor_i,motor_speed,RpWarning,process_speed,0);
 
@@ -865,6 +867,25 @@ void ThreadPreSegmentEnded(void)
     REPORT_MSG (0,"First ThreadPreSegmentEnded");
     PreSegmentReady(Module_Thread,ModuleDone);
 }
+#define DRYER_RAMPUP 1
+#ifdef DRYER_RAMPUP
+uint32_t ThreadDryerRampUp(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    InitialDryerSpeed += (OriginalMotorSpd_2PPS[DRYER_MOTOR]/10);
+    if (InitialDryerSpeed >= OriginalMotorSpd_2PPS[DRYER_MOTOR])
+    {
+        InitialDryerSpeed = OriginalMotorSpd_2PPS[DRYER_MOTOR];
+        SafeRemoveControlCallback(ControlIdtoMotorId[DRYER_MOTOR], ThreadDryerRampUp );
+        ControlIdtoMotorId[DRYER_MOTOR] = 0xFF;
+    }
+
+    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,InitialDryerSpeed );
+    Report("ThreadDryerRampUp",__FILE__,ControlIdtoMotorId[DRYER_MOTOR],(int)InitialDryerSpeed,RpWarning,(int)OriginalMotorSpd_2PPS[DRYER_MOTOR],0);
+
+
+    return OK;
+}
+#endif
 
 //********************************************************************************************************************
 uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
@@ -886,7 +907,13 @@ uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
         PrepareState = false;
 #ifndef TEST_PID_THREAD
         // set the new speed in the dryer motor to the speed of the new segment
+#ifndef DRYER_RAMPUP
         MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING, OriginalMotorSpd_2PPS[DRYER_MOTOR]);
+#else
+        InitialDryerSpeed = OriginalMotorSpd_2PPS[DRYER_MOTOR]/10;
+        MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,InitialDryerSpeed );
+        ControlIdtoMotorId[DRYER_MOTOR] = AddControlCallback(ThreadDryerRampUp, 200,TemplateDataReadCBFunction,0,0,0);
+#endif
 #endif
 #ifdef HUNDRED_MICROSECONDS_DANCER_READ
      MillisecLogInit();