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| author | Shlomo Hecht <shlomo@twine-s.com> | 2020-09-02 12:38:57 +0300 |
|---|---|---|
| committer | Shlomo Hecht <shlomo@twine-s.com> | 2020-09-02 12:38:57 +0300 |
| commit | bb8b2a7fac772ceb2a163aecb9c854f4fa9013c7 (patch) | |
| tree | d90f0744473d0f5448845863aeb5039e641afa41 /Software/Embedded_SW/Embedded/Modules | |
| parent | e00a27ea56222395a08eaaf3256237de9a8c81ee (diff) | |
| download | Tango-bb8b2a7fac772ceb2a163aecb9c854f4fa9013c7.tar.gz Tango-bb8b2a7fac772ceb2a163aecb9c854f4fa9013c7.zip | |
thread load: handle safety alarm on head cover better, prevent RTFU arm raising on final jog
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 20 |
1 files changed, 12 insertions, 8 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 84cc5cf20..eb422875f 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -346,14 +346,6 @@ //HARDWARE_MOTOR_TYPE__MOTO_DH_LID = 2, //HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID = 4, //DeActivateHeadMagnet(); - if (Head_Type != HEAD_TYPE_ARC) - { - CallbackCounter++; - if (MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 300, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,20000)==ERROR) - { - Thread_Load_HomingCallback(HARDWARE_MOTOR_TYPE__MOTO_DH_LID,NO_LIMIT); - } - } CallbackCounter++; //MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000); int direction; @@ -366,6 +358,14 @@ direction = DRIER_LID_OPEN; } MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, direction, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000); + if (Head_Type != HEAD_TYPE_ARC) + { + CallbackCounter++; + if (MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 300, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,20000)==ERROR) + { + Thread_Load_HomingCallback(HARDWARE_MOTOR_TYPE__MOTO_DH_LID,NO_LIMIT); + } + } if (Head_Type == HEAD_TYPE_FLAT) { Report("Thread_Load_Lift_actuators",__FILE__,__LINE__,LOW,RpMessage,false,0); @@ -754,6 +754,7 @@ numberOfSteps-800, Thread_Load_Dryer_Loading_Callback, 10000); return OK; } + double keepfeedertension = 0; uint32_t Thread_Load_Jog_ThreadStop(uint32_t index, uint32_t ReadValue) { REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Jog_ThreadStop"); @@ -761,6 +762,7 @@ LoadingControlId = 0xFF; ThreadAbortJoggingFunc(); LoadStages++; + ProcessParametersKeep.feedertension = keepfeedertension; ThreadLoadStateMachine(LoadStages); return OK; } @@ -768,6 +770,8 @@ //Jog Thread Shortly To Make Sure Spool Is Running. Report End Of Loading { REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Jog_Thread"); + keepfeedertension = feedertension; + ProcessParametersKeep.feedertension = 0.0; ThreadJoggingFunc(20); LoadingControlId = AddControlCallback("Load jog",Thread_Load_Jog_ThreadStop, eOneSecond*25,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR); return OK; |