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

9 files changed, 102 insertions, 50 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
index 7bda97734..9e7ab1e56 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
@@ -232,7 +232,10 @@ uint32_t SetDigitalOutRequestRequestFunc(MessageContainer* requestContainer)
                 Pumps_Control(WASTECH_PUMP2, request->value);
             break;
         case INTERFACE_IOS__GPO_LED3:
-            Trigger_Head_Actuators_Control(ACTIN, LOW,request->value);
+            if (request->value == true)
+                Trigger_Head_Actuators_Control(ACTIN, LOW,request->value);
+            else
+                HeadCard_Actuators_Relocate();
             break;
         case INTERFACE_IOS__GPO_LED4:
             Trigger_Head_Actuators_Control(ACTOT, LOW,request->value);
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index a9899afd7..ec743ea4a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -724,7 +724,7 @@ void PrepareACHeater(int HeaterId,uint32_t Frequency, uint32_t SetTemperatue)
     {
         if(Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD)
         {
-            WHS_Set_SetPoint_Q_value(headairflow/2);
+            WHS_Set_SetPoint_Q_value(headairflow*2/3);
         }
         else
         {
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
index 0be1e7ebe..c9e9afdde 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
@@ -101,8 +101,9 @@ uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callbac
     uint32_t status = OK;
     //status |= MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize, SaveRightRockerSpeed,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD], callback,timeout);
     //status |= MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, SaveLeftRockerSpeed,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], callback,timeout);
-    Trigger_Head_Actuators_Disable();
-    Trigger_Head_Actuators_Control(ACTIN, LOW,false);
+    HeadCard_Actuators_Relocate();
+    //Trigger_Head_Actuators_Disable();
+    //Trigger_Head_Actuators_Control(ACTIN, LOW,false);
     CleaningStageCounter = 0;
     CleaningStage = CleaningStageIdle;
     Report("IDS_Cleaning_Center_And_Stop_Rockers actuator down", __FILE__, __LINE__, timeout, RpWarning,   123456, 0);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 5f1dfe138..311f16a19 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -44,7 +44,9 @@ HardwarePidControl *DispensersControl;
 HardwarePidControl DispensersCtrl[MAX_SYSTEM_DISPENSERS];
 #define MAX_DYE_DISPENSERS 6
 #define IDS_PRESEGMENT_TIME_STEP 50
+#define INITIAL_CLEANER_SPEED 300
 
+int32_t minimal_intersegment_length = 0;
 int32_t DispenserSamples[MAX_SYSTEM_DISPENSERS][MAX_CONTROL_SAMPLES] = {0};
 int DispenserSamplePointer[MAX_SYSTEM_DISPENSERS] = {0};
 double DispenserNormalizedErrorCoEfficient[MAX_SYSTEM_DISPENSERS] = {0};
@@ -119,15 +121,15 @@ void IDS_Dispenser_SetPreSegmentWFCFValues(double dispenserpresegmentwfcf, doubl
          LeftRockerSpeed = ids_leftcleaningmotorspeed;
      if ( ids_rightcleaningmotorspeed)
          RightRockerSpeed = ids_rightcleaningmotorspeed;
+     minimal_intersegment_length = ids_cleaningstopbeforesegmenttime+ids_cleaningstartspraypresegmenttime+2000;
      Report("IDS_Dispenser_SetPreSegmentCleaningValues ",__FILE__,__LINE__,RightRockerSpeed,RpWarning,(int)LeftRockerSpeed,0);
-     Report("IDS_Dispenser_SetPreSegmentCleaningValues ",__FILE__,__LINE__,InterSegmentStartSprayCleaner,RpWarning,(int)InterSegmentCenterRockers,0);
+     Report("IDS_Dispenser_SetPreSegmentCleaningValues ",__FILE__,minimal_intersegment_length,InterSegmentStartSprayCleaner,RpWarning,(int)InterSegmentCenterRockers,0);
      Report("IDS_Dispenser actuator times ",__FILE__,(int)LeftRockerSpeed/100*IDS_PRESEGMENT_TIME_STEP,(int)LeftRockerSpeed%100*IDS_PRESEGMENT_TIME_STEP,RpWarning,(int)RightRockerSpeed*IDS_PRESEGMENT_TIME_STEP,0);
-
  }
 
  uint32_t DispenserPreSegmentControlId = 0xFF;
  uint32_t BrushStopControlId = 0xFF;
- uint32_t PreSegmentControlId = 0xFF;
+ //uint32_t PreSegmentControlId = 0xFF;
 
 /*uint32_t IDS_DispenserControlInit()
 {
@@ -576,6 +578,13 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
                  }
              }
          }
+         if (GetDispenserPressure(CLEANER_DISPENSER) > 0.02)
+         {
+             HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER];
+             MotorStop(HW_Motor_Id, Hard_Hiz);
+             CurrentDispenserSpeed[CLEANER_DISPENSER] = 0;
+             Report("IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
+         }
 
          if ((NumofReadyDispensers)&&(DispenserBuildTimeCounter%1000 == 0))
          {
@@ -689,6 +698,13 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
      //start new stage
      if (endOfPrepareWCF == true)
      {
+         if (CurrentDispenserSpeed[CLEANER_DISPENSER])
+         {
+             HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER];
+             MotorStop(HW_Motor_Id, Hard_Hiz);
+             CurrentDispenserSpeed[CLEANER_DISPENSER] = 0;
+             Report("IDS stop cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
+         }
          SafeRemoveControlCallback(DispenserPrepareControlId, IDS_Prepare_Callback );
          DispenserPrepareControlId = 0xFF;
          Report("IDS_Prepare_Callback SafeRemoveControlCallback",__FILE__,DispenserBuildTimeCounter,NumofReadyDispensers,RpWarning,(int)NumOfActiveDispensers,0);
@@ -848,6 +864,12 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
                  }*/
              }
          }
+         TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[CLEANER_DISPENSER];
+         MotorSetSpeed((TimerMotors_t)HW_Motor_Id,INITIAL_CLEANER_SPEED ); //set the dispenser to the
+         CurrentDispenserSpeed[CLEANER_DISPENSER] = INITIAL_CLEANER_SPEED;
+         Report("IDS start cleaner",__FILE__,CLEANER_DISPENSER,(int)(GetDispenserPressure(CLEANER_DISPENSER)*100),RpWarning,(int)CurrentDispenserSpeed[CLEANER_DISPENSER] ,0);
+
+
      }
      DispenserBuildTimeCounter = 0;
      DispenserPrepareControlId = AddControlCallback(NULL, IDS_Prepare_Callback, PRESSURE_READ_TIME_GAP,TemplateDataReadCBFunction ,0, 0, 0 );
@@ -1259,15 +1281,19 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
         if (SegmentId>0)
         {
             lInterSegmentLength = ((IntersegmentLength*100)*1000/dyeingspeed);
+
             lInterSegmentLength-=(lInterSegmentLength%100);   //round to a 100 multiplication
             InterSegmentStepsCount = 0;
-            DispenserPreSegmentControlId = AddControlCallback(NULL,IDSPreSegmentStateCallbackRunner, IDS_PRESEGMENT_TIME_STEP,TemplateDataReadCBFunction ,0, 0, 0 );
-            if (DispenserPreSegmentControlId == 0xFF)
+            if (minimal_intersegment_length<((IntersegmentLength*100)*1000/dyeingspeed))
             {
-                Report("Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0);
-                return ERROR;
+                DispenserPreSegmentControlId = AddControlCallback(NULL,IDSPreSegmentStateCallbackRunner, IDS_PRESEGMENT_TIME_STEP,TemplateDataReadCBFunction ,0, 0, 0 );
+                if (DispenserPreSegmentControlId == 0xFF)
+                {
+                    Report("Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0);
+                    return ERROR;
+                }
+                Report("Add control callback ",__FILE__,__LINE__,(int)100,RpWarning,(int)lInterSegmentLength,0);
             }
-            Report("Add control callback ",__FILE__,__LINE__,(int)100,RpWarning,(int)lInterSegmentLength,0);
             /*if (EnableCleaning == true)
             {
                 InterSegmentStartSprayCleaner = 500;
diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
index bfffb0d9b..1054da894 100644
--- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
+++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
@@ -141,11 +141,8 @@ bool CartridgeInkFull()
         CartridgeFinishedCount = 0;
         Report("IFS_filling ", __FILE__,__LINE__,int_MidTank_Pressure_1000, RpMessage, int_MidTank_Pressure_1000, 0);
         /**** detect if the MidTank_Pressure is the same, 5 times   ****/
-        if (DetectIfCartridgeFinished(int_MidTank_Pressure_1000)) {
-            //currently sensor work properly only until 1.6 - 1.8 Liter (TBD)
-            Report("DetectIfCartridgeFinished", __FILE__,__LINE__,int_MidTank_Pressure_1000, RpMessage, int_MidTank_Pressure_1000, 0);
-            //return true;
-        }
+        if (DetectIfCartridgeFinished(int_MidTank_Pressure_1000))
+            return true;
     }
     return false;
 }
@@ -274,7 +271,8 @@ void midTankStateMachine(void)
                     Report("Power-down in process", __FILE__, __LINE__, 0, RpMessage, 0, 0);
                     break;
                 }
-
+                if (!RdInkCartridgeSensor())
+                    break;
                 //check RFID? (TBD)
 
                 // send request for validation to ppc
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 3a7045a6e..c912bca21 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -85,5 +85,8 @@ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Rea
 
 void SetOriginMotorSpeed(float process_speed);
 
+uint32_t ThreadPrepare_Tension (int DancerId, double tension);
+
+
 #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 2c8db8b6c..01c70d42f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -116,6 +116,7 @@
     bool InitCalled = false;
     uint32_t LoadArmRounds;
 
+    int CurrentlyLoaded = 0;
     uint32_t ThreadLoadStateMachine( THREAD_LOAD_STAGES_ENUM LoadStages);
     uint32_t ThreadLoadControlCBFunction(uint32_t index, uint32_t ReadValue);
     uint32_t ThreadLoadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue);
@@ -210,7 +211,7 @@
         {
             if(Head_Type > HEAD_TYPE_SYLKO_WITHOUT_CARD)
             {
-                WHS_Set_SetPoint_Q_value(headairflow/2);
+                WHS_Set_SetPoint_Q_value(headairflow*2/3);
             }
             else
             {
@@ -236,6 +237,7 @@
         //storeLoadArmParameters();
         MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Stop);
         SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
+        MotorAbortMovetoLimitSwitch(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
 
         return OK;
     }
@@ -461,23 +463,35 @@
     uint32_t Thread_Load_Close_Dancers(void)
     //Send Dancer Motors To Preset Location, Check That The Dancers Are On The Thread
     {
+        uint32_t  current = 0;
         REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Close_Dancers");
         CallbackCounter++;
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize, 15,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RDANCER], Thread_Load_HomingCallback,10000);
-        CallbackCounter++;
-        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, 500);
 
 //        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, 500,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1], Thread_Load_HomingCallback,25000);
-        MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, ((int)windertension*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].microstep), Thread_Load_HomingCallback,20000);
-        status |= MCU_E2PromProgram(EEPROM_WINDER_TENSION_POSITION,(int)windertension);
-        if (Is_PP_Machine() == true) //PP machine - new LTFU
+        status |= MCU_E2PromRead(EEPROM_WINDER_TENSION_POSITION,&current);
+
+        ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__LeftDancer, windertension);
+/*        if (current!=windertension)
         {
             CallbackCounter++;
-            MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_LDANCER2, 500);
-            MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_LDANCER2, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER2].directionthreadwize, ((int)pullertension*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER2].microstep), Thread_Load_HomingCallback,20000);
-            status |= MCU_E2PromProgram(EEPROM_PULLER_TENSION_POSITION,(int)pullertension);
-        }
+            MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, 500);
+            MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_LDANCER1, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].directionthreadwize, ((int)windertension*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER1].microstep), Thread_Load_HomingCallback,20000);
+            status |= MCU_E2PromProgram(EEPROM_WINDER_TENSION_POSITION,(int)windertension);
+        }*/
+        if (Is_PP_Machine() == true) //PP machine - new LTFU
+        {
+            ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__MiddleDancer, pullertension);
+            /*status |= MCU_E2PromRead(EEPROM_PULLER_TENSION_POSITION,&current);
+            if (current!=pullertension)
+            {
+                CallbackCounter++;
+                MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_LDANCER2, 500);
+                MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_LDANCER2, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER2].directionthreadwize, ((int)pullertension*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDANCER2].microstep), Thread_Load_HomingCallback,20000);
+                status |= MCU_E2PromProgram(EEPROM_PULLER_TENSION_POSITION,(int)pullertension);
+            }*/
 
+        }
         return OK;
     }
     uint32_t Thread_Load_Close_Lids(void)
@@ -507,7 +521,8 @@
         {
             Report("Thread_Load_Close_actuators",__FILE__,__LINE__,LOW,RpMessage,true,0);
             Trigger_Head_Actuators_Control(ACTOT, LOW,false);
-            Trigger_Head_Actuators_Control(ACTIN, LOW,false);
+            //Trigger_Head_Actuators_Control(ACTIN, LOW,false);
+            HeadCard_Actuators_Relocate();
         }
         return OK;
     }
@@ -515,6 +530,7 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Resume_Heating");
         ActivateHeadMagnet();
+        HeadCard_Actuators_Relocate();
 
         if (HandleProcessParameters(&ProcessParametersRecover,false)!= OK)
         {
@@ -624,6 +640,7 @@
             {
                 return OK;
             }
+            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,numberOfCycles+CurrentlyLoaded);
             if (numberOfCycles<LoadArmRounds)
             {
                 MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
@@ -632,7 +649,6 @@
             else
             {
                 MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,30000,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize);
-                MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,numberOfCycles);
                 Report("Store Number of cycles in drier",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmRounds,0);
             }
         }
@@ -641,7 +657,7 @@
             TryAgain = true;
             SecondTry = false;
             Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmRounds,0);
-            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,numberOfCycles);
+            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,numberOfCycles+CurrentlyLoaded);
             TimeoutsCounter = 0;
             CallbackCounter = 0;
             load.color = fastBILNK;
@@ -672,7 +688,6 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Dryer_Loading");
 
-        int CurrentlyLoaded = 0;
         if (dryerbufferlength)
             LoadArmRounds = (int)dryerbufferlength;
         if (LoadArmRounds <= 2)
@@ -810,7 +825,8 @@
         }
         Screw_Dir = 1-Screw_Dir;
         // movement of the screw while unloading the thread from the dryer to the spool
-        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Screw_Dir, 80, screw[Screw_Dir], Thread_Load_switchCallback,13000);
+        AlarmHandlingSetAlarm (EVENT_TYPE__SCREW_MOTOR_LIMIT_TIMEOUT,OFF);  //handle alarm detection and operation
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Screw_Dir, 80, screw[Screw_Dir], Thread_Load_switchCallback,20000);
 
         return OK;
     }
@@ -832,6 +848,7 @@
             Report("Thread_Load_Dryer_UnLoading cycles",__FILE__,numberOfCycles,LoadArmRounds,RpMessage,0,0);
             if (numberOfCycles<LoadArmRounds)
             {
+                MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-numberOfCycles);
                 MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
                                        numberOfSteps,    Thread_Load_Dryer_UnLoading_Callback, 10000);
             }
@@ -852,9 +869,9 @@
             if (abs(temp -DrierPrevLocation)<200)
             {
                 if (temp<DrierPrevLocation)
-                    direction = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize;
-                else
                     direction = 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize;
+                else
+                    direction = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize;
                 MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Set_Load_Arm_To_Stopper_OnError_Callback,3000,direction);
 
             }
@@ -1239,15 +1256,15 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
 
     NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
-    if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
-    {
-        NormalizedError = (-1*NormalizedError);
-    }
     MotorControlConfig[index].m_mesuredParam = NormalizedError;
     MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
                                                                           &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
+    if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
+    {
+        MotorControlConfig[index].m_calculatedError = (-1*MotorControlConfig[index].m_calculatedError);
+    }
     calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
-    //if (fabs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
+    if (fabs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
     {
         CurrentControlledSpeed[index] = calculated_speed;
         MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index e1f887303..39ff91558 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -145,7 +145,7 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
     NormalizedErrorCoEfficient[Motor_i] = NormalizedErrorCoEfficient[Motor_i] / temp;
 //    uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
     temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
-    temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm*3/2);
+    temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);//*3/2);
     DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
index 40e23e0b3..aa046c77d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
@@ -393,26 +393,26 @@ void Waste_StateMachine(void)
             if(WHS_IsContainerFull()) {
                 //check if power down in process
                 if ( PowerOffInProcessGetState() ) {
-                    Report("Power-down in process", __FILE__, __LINE__, 0, RpMessage, 0, 0);
-                    break;
-                }
-
-                //check door
-                if (DoorState == OPEN) {
-                    Report("Close cartridge cover", __FILE__, __LINE__, DoorState, RpMessage, 0, 0);
+                    //Report("Power-down in process", __FILE__, __LINE__, 0, RpMessage, 0, 0);
                     break;
                 }
 
                 // select cartridge
                 SelectedCard = cartSELECT_CART();
                 if (SelectedCard == MaxWasteCartridges) {
-                    Report("No Available cart", __FILE__, __LINE__, SelectedCard, RpMessage, 0, 0);
+                    //Report("No Available cart", __FILE__, __LINE__, SelectedCard, RpMessage, 0, 0);
                     AlarmHandlingSetAlarm( EVENT_TYPE__NO_WASTE_CARTRIDGE_AVAILABLE,  true);
                     break;
                 } else {
                     AlarmHandlingSetAlarm( EVENT_TYPE__NO_WASTE_CARTRIDGE_AVAILABLE,  false);
                 }
 
+                //check door
+                //moved door handling down - I want to see the alarm even if the door is open
+                if (DoorState == OPEN) {
+                    //Report("Close cartridge cover", __FILE__, __LINE__, DoorState, RpMessage, 0, 0);
+                    break;
+                }
                 //check RFID? (TBD)
 
                 //move to next state
@@ -466,7 +466,7 @@ void Waste_StateMachine(void)
                 // RFID change status - TBD
                 WasteTankState = WasteTankStateIdle;
                 RemoveControlCallback(Cartridge_Cover_Control, Waste_DoorOpenDuringEmptying);
-                if (cartNotAllFull() == false)
+                //if (cartNotAllFull() == false)
                     AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL,  true);
                 Report("WasteTankStateEmptying done", __FILE__, __LINE__, 0, RpMessage, 0, 0);
                 timeout_counter = 0;
@@ -505,6 +505,8 @@ void Waste_Prepare(void)
     if (wasteLevel > wasteLevelOverflow)
     {
         Report("cannot start a job with waste tank overflow", __FILE__, __LINE__, wasteLevel, RpMessage, wasteLevelOverflow, 0);
+        JobEndReason = JOB_SAFETY_CRITICAL_ALARM;
+        AlarmHandlingSetAlarm( EVENT_TYPE__WASTE_CONTAINER_OVERFLOW,  true);
         PrepareReady(Module_Waste,ModuleFail);
         return;
     }
@@ -515,6 +517,8 @@ void Waste_Prepare(void)
     else
     {
         Report("cannot start a job with cartridges in the IFS", __FILE__, __LINE__, wasteLevel, RpMessage, wasteLevelOverflow, 0);
+        JobEndReason = JOB_OTHER_ALARM;
+        AlarmHandlingSetAlarm( EVENT_TYPE__ALL_WASTE_CARTRIDGES_FULL,  true);
         PrepareReady(Module_Waste,ModuleFail);
     }
     return;