diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 17 |
1 files changed, 16 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 34395b3e6..58ade0802 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -40,6 +40,7 @@ THREAD_LOAD_INIT, THREAD_LOAD_REDUCE_HEAT, //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW, THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION,//USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY + THREAD_LOAD_CENTER_HEAD_ROCKERS, //puthead cleaning rockers to middle position THREAD_LOAD_OPEN_COVERS, //OPEN DYEING HEAD COVER AND DRYER LID THREAD_LOAD_LIFT_DANCERS, THREAD_LOAD_LIFT_ROCKERS, //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE @@ -201,11 +202,20 @@ LOG_ERROR(MotorId, "Thread_Load_HomingCallback Callback is already 0"); return OK; } + uint32_t Thread_Load_Center_Head_Rockers(void) + { + CallbackCounter++; + MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD], Thread_Load_HomingCallback,10000); + CallbackCounter++; + MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], Thread_Load_HomingCallback,10000); + return OK; + } uint32_t Thread_Load_Open_Covers(void) { //Open Dyeing Head Cover And Dryer Lid //HARDWARE_MOTOR_TYPE__MOTO_DH_LID = 2, //HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID = 4, + DeActivateHeadMagnet(); CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 200, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,10000); CallbackCounter++; @@ -279,6 +289,8 @@ } uint32_t Thread_Load_Resume_Heating(void) { + ActivateHeadMagnet(); + if (HandleProcessParameters(&ProcessParametersRecover)!= OK) { LOG_ERROR (LoadStages, "Thread_Load_Resume_Heating failed"); @@ -352,6 +364,10 @@ //LoadStages++; Thread_Load_Set_Load_Arm_To_Start_Position(); break; + case THREAD_LOAD_CENTER_HEAD_ROCKERS: + //LoadStages++; + Thread_Load_Center_Head_Rockers(); + break; case THREAD_LOAD_OPEN_COVERS: //OPEN DYEING HEAD COVER AND DRYER LID //LoadStages++; Thread_Load_Open_Covers(); @@ -416,7 +432,6 @@ uint32_t ThreadLoadControlCBFunction(uint32_t index, uint32_t ReadValue) //double tempcalcspeed = 0; uint32_t calculated_speed; double NormalizedError; - char Message[60]; DancerId = ThreadMotorIdToDancerId[index]; if (ReadValue < 10) |