diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 24 |
1 files changed, 8 insertions, 16 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 53ab0e8a2..3ee248fba 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -200,10 +200,6 @@ } uint8_t CallbackCounter = 0; uint8_t TimeoutsCounter = 0; - uint8_t LeftMicrostepKeep = 0; - uint8_t LeftkvalKeep = 0; - uint8_t RightMicrostepKeep = 0; - uint8_t RightkvalKeep = 0; uint32_t Thread_Load_HomingCallback(uint32_t MotorId, uint32_t ReadValue) { @@ -229,10 +225,10 @@ LoadStages++; if (LoadStages == THREAD_LOAD_LIFT_ROCKERS) { - MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, RightMicrostepKeep); - MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, LeftMicrostepKeep); - //MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, RightkvalKeep); - //MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, LeftkvalKeep); + 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 { @@ -282,19 +278,15 @@ //Machine Is Ready. Send Message, Start Timer To Close Lids, Wait For Operator Response { REPORT_MSG(LoadStages, "Thread Load State Machine step"); - LeftMicrostepKeep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].microstep; - LeftkvalKeep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].kvalrun; - RightMicrostepKeep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep; - RightkvalKeep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun; 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); + 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; } |