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, 15 insertions, 2 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 74a07e99c..3ee248fba 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -200,6 +200,7 @@ } uint8_t CallbackCounter = 0; uint8_t TimeoutsCounter = 0; + uint32_t Thread_Load_HomingCallback(uint32_t MotorId, uint32_t ReadValue) { Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); @@ -222,6 +223,13 @@ else { LoadStages++; + if (LoadStages == THREAD_LOAD_LIFT_ROCKERS) + { + MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep); + MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].microstep); + MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep); + MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].microstep); + } if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this stage we should wait for user call { //ThreadLoadStateMachine(LoadStages); @@ -270,10 +278,15 @@ //Machine Is Ready. Send Message, Start Timer To Close Lids, Wait For Operator Response { REPORT_MSG(LoadStages, "Thread Load State Machine step"); + MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 1); + MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1); + MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 35); + MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 35); + Task_sleep(10); CallbackCounter++; - MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 300, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,12000); + MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 50, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,25000); CallbackCounter++; - MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 300, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,12000); + MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 50, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,25000); return OK; } |