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| author | Shlomo Hecht <shlomo@twine-s.com> | 2019-02-19 19:09:00 +0200 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2019-02-19 19:09:00 +0200 |
| commit | f4e0312f008e0ebc0c80a3b070d278de2683cf8f (patch) | |
| tree | 73cfb0d1dd1ac9bb2b8d0e1c0434dd529b104f78 /Software/Embedded_SW/Embedded/Modules/Thread | |
| parent | 0135383d7f263d3c2cc70040d8a908b95341f42d (diff) | |
| download | Tango-f4e0312f008e0ebc0c80a3b070d278de2683cf8f.tar.gz Tango-f4e0312f008e0ebc0c80a3b070d278de2683cf8f.zip | |
thread load corrections
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread')
4 files changed, 6 insertions, 3 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h index 8c6164219..638611c8b 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h @@ -74,5 +74,7 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request); uint32_t DancerConfigMessage(HardwareDancer * request); +void SetOriginMotorSpeed(float process_speed); + #endif //MODULES_THREAD_THREAD_H_ diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index a3630ded4..8792470d2 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -377,8 +377,9 @@ LoadArmInfo.LoadArmRounds = 20; uint32_t numberOfSteps = 0; //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40 - OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000; - CurrentControlledSpeed[FEEDER_MOTOR] = 1000; + SetOriginMotorSpeed(15); +// OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000; +// CurrentControlledSpeed[FEEDER_MOTOR] = 1000; numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius; MotorControlConfig[FEEDER_MOTOR].m_params.MAX = 1; diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c index 14a74ffbe..435d7aef3 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c @@ -128,6 +128,7 @@ uint32_t StoreDancerConfigMessage() Dancers[Dancer_i].has_hardwaredancertype = true; DancerConfig.dancers[Dancer_i]->zeropoint=Control_Read_Dancer_Position(Dancer_i,0,0); DancerConfig.n_dancers++; + DancersCfg[Dancer_i].zeropoint = DancerConfig.dancers[Dancer_i]->zeropoint; } response_buffer = my_malloc(hardware_configuration__get_packed_size(&DancerConfig)); if (response_buffer) diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index e15a27351..aee5fefac 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -75,7 +75,6 @@ void ThreadSegmentEnded(void); void ThreadInterSegmentEnded(void); void ThreadDistanceToSpoolEnded(void); uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue); -void SetOriginMotorSpeed(float process_speed); double KeepNormalizedError = 0; bool ThreadControlActive = false; |