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-rw-r--r--Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c57
1 files changed, 40 insertions, 17 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 19392c754..2ad58ea0a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -108,7 +108,7 @@
float numberOfSteps = 0;
float numberOfCycles = 0;
double DrierPrevLocation = 0;
- FPGA_GPI_ENUM screw[2] = {GPI_LS_SCREW_LEFT,GPI_LS_SCREW_RIGHT};
+ FPGA_GPI_ENUM screw[2] = {GPI_LS_SCREW_RIGHT,GPI_LS_SCREW_LEFT};
int Screw_Dir = false;
bool InitCalled = false;
uint32_t LoadArmRounds;
@@ -326,10 +326,19 @@
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++;
//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);
- MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, 0, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
+ int direction;
+ if (MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].DriverType == CombinrdMotDriver)//reverse direction for powerstep
+ {
+ direction = DRIER_LID_CLOSE;
+ }
+ else
+ {
+ 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);
Report("Thread_Load_Lift_actuators",__FILE__,__LINE__,LOW,RpMessage,false,0);
- Trigger_Head_Actuators_Control(ACTOT, LOW,false);
- Trigger_Head_Actuators_Control(ACTIN, LOW,false);
+ Trigger_Head_Actuators_Control(ACTOT, LOW,true);
+ Trigger_Head_Actuators_Control(ACTIN, LOW,true);
return OK;
}
uint32_t Thread_Load_Lift_Dancers(void)
@@ -450,10 +459,19 @@
MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 200, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,10000);
CallbackCounter++;
// MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].directionthreadwize, 200, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
- MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, 2, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
+ int direction;
+ if (MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID].DriverType == CombinrdMotDriver)//reverse direction for powerstep
+ {
+ direction = DRIER_LID_OPEN;
+ }
+ else
+ {
+ direction = DRIER_LID_CLOSE;
+ }
+ MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID, direction, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID], Thread_Load_HomingCallback,10000);
Report("Thread_Load_Close_actuators",__FILE__,__LINE__,LOW,RpMessage,true,0);
- Trigger_Head_Actuators_Control(ACTOT, LOW,true);
- Trigger_Head_Actuators_Control(ACTIN, LOW,true);
+ Trigger_Head_Actuators_Control(ACTOT, LOW,false);
+ Trigger_Head_Actuators_Control(ACTIN, LOW,false);
return OK;
}
uint32_t Thread_Load_Resume_Heating(void)
@@ -575,7 +593,7 @@
}
else
{
- MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,10000);
+ MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,30000);
MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,numberOfCycles);
Report("Store Number of cycles in drier",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmRounds,0);
}
@@ -652,7 +670,8 @@
MotorControlConfig[FEEDER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage
MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize);
- MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
+ MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/6*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
+ //6 seconds per round
LoadingControlId = AddControlCallback(NULL,ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
Report("AddControlCallback feeder",__FILE__,__LINE__,LoadingControlId,RpMessage,IfTypeThread*0x100+FEEDER_MOTOR,0);
@@ -670,7 +689,7 @@
CallbackCounter++;
Report("Thread_Load_Dryer_Loading",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
- numberOfSteps-400, Thread_Load_Dryer_Loading_Callback, 10000);
+ numberOfSteps-800, Thread_Load_Dryer_Loading_Callback, 10000);
return OK;
}
uint32_t Thread_Load_Jog_ThreadStop(uint32_t index, uint32_t ReadValue)
@@ -767,11 +786,11 @@
if (numberOfCycles<LoadArmRounds)
{
MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
- numberOfSteps, Thread_Load_Dryer_UnLoading_Callback, 30000);
+ numberOfSteps, Thread_Load_Dryer_UnLoading_Callback, 10000);
}
else //done enough cycles, go to the center point
{
- MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Set_Load_Arm_To_Stopper_Callback,10000);
+ MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Set_Load_Arm_To_Stopper_Callback,30000);
MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmRounds-numberOfCycles);
Report("Store Number of cycles in drier",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmRounds,0);
}
@@ -890,15 +909,19 @@
else
{
MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmRounds);
+ if (LoadArmRounds == 0) //prev trial stopped
+ {
+ LoadArmRounds = (int)dryerbufferlength;
+ }
}
MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&temp);
DrierPrevLocation = temp;
Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,UnloadingStart,DrierPrevLocation,RpMessage, LoadArmRounds,0);
- MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
+ MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/6*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
// status |= MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
// MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4, Thread_Load_Set_Load_Arm_To_Stopper_Callback,0,1000);
MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
- numberOfSteps-400, Thread_Load_Dryer_UnLoading_Callback, 30000);
+ numberOfSteps-800, Thread_Load_Dryer_UnLoading_Callback, 10000);
Screw_Dir = 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize;
@@ -1204,15 +1227,15 @@ bool ThreadLoaded(void)
ReadValue = Control_Read_Dancer_Position(FEEDER_DANCER,0);
FeederValue = ReadValue - DancersCfg[FEEDER_DANCER].zeropoint;
- Report("Feeder out",__FILE__,FeederValue,ReadValue,RpWarning,(int)DancersCfg[FEEDER_DANCER].zeropoint,0);
+ Report("Feeder out",__FILE__,abs(FeederValue),ReadValue,RpWarning,(int)DancersCfg[FEEDER_DANCER].zeropoint,0);
ReadValue = Control_Read_Dancer_Position(WINDER_DANCER,0);
WinderValue = ReadValue - DancersCfg[WINDER_DANCER].zeropoint;
- Report("Winder out",__FILE__,WinderValue,ReadValue,RpWarning,(int)DancersCfg[WINDER_DANCER].zeropoint,0);
+ Report("Winder out",__FILE__,abs(WinderValue),ReadValue,RpWarning,(int)DancersCfg[WINDER_DANCER].zeropoint,0);
ReadValue = Control_Read_Dancer_Position(POOLER_DANCER,0);
PoolerValue = ReadValue - DancersCfg[POOLER_DANCER].zeropoint;
//pooler dancer is right sided: data is opposite
PoolerValue = (-1*PoolerValue);
- Report("Puller out",__FILE__,PoolerValue,ReadValue,RpWarning,(int)DancersCfg[POOLER_DANCER].zeropoint,0);
+ Report("Puller out",__FILE__,abs(PoolerValue),ReadValue,RpWarning,(int)DancersCfg[POOLER_DANCER].zeropoint,0);
if (((PoolerValue)<(-1200))&&((WinderValue)<(-1200))&&((FeederValue)<(-1200)))
{
generated by cgit v1.3.1 (git 2.54.0) at 2026-06-19 21:43:48 +0000