diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 41 |
1 files changed, 20 insertions, 21 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index c68156e68..5a1bb9063 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -43,20 +43,19 @@ 0 THREAD_LOAD_INIT, 1 THREAD_LOAD_REDUCE_HEAT, //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW, 2 THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION, //USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY - 3 THREAD_LOAD_CENTER_HEAD_ROCKERS, //puthead cleaning rockers to middle position - 4 THREAD_LOAD_OPEN_COVERS, //OPEN DYEING HEAD COVER AND DRYER LID - 5 THREAD_LOAD_LIFT_DANCERS, - 6 THREAD_LOAD_LIFT_ROCKERS, //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE - 7 THREAD_LOAD_INITIAL_TENSION, //CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND - 8 THREAD_LOAD_CLOSE_ROCKERS, - 9 THREAD_LOAD_CLOSE_DANCERS, //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD - 10 THREAD_LOAD_CLOSE_LIDS, - 11 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT, //JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION - 12 THREAD_LOAD_DRYER_LOADING, //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40 + 3 THREAD_LOAD_OPEN_COVERS, //OPEN DYEING HEAD COVER AND DRYER LID + 4 THREAD_LOAD_LIFT_DANCERS, + 5 THREAD_LOAD_LIFT_ROCKERS, //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE + 6 THREAD_LOAD_INITIAL_TENSION, //CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND + 7 THREAD_LOAD_CLOSE_ROCKERS, + 8 THREAD_LOAD_CLOSE_DANCERS, //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD + 9 THREAD_LOAD_CLOSE_LIDS, + 10 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT, //JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION + 11 THREAD_LOAD_DRYER_LOADING, //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40 //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER - 13 THREAD_LOAD_RESUME_HEATING, - 14 THREAD_LOAD_JOG_THREAD, //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING - 15 THREAD_LOAD_END + 12 THREAD_LOAD_RESUME_HEATING, + 13 THREAD_LOAD_JOG_THREAD, //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING + 14 THREAD_LOAD_END }THREAD_LOAD_STAGES_ENUM;*/ THREAD_LOAD_STAGES_ENUM LoadStages = THREAD_LOAD_INIT; ProcessParameters ProcessParametersClear,ProcessParametersRecover; @@ -202,7 +201,7 @@ MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);*/ MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz); - +//move to exact location? // Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); CallbackCounter = 0; Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0); @@ -292,7 +291,7 @@ LOG_ERROR(MotorId, "Thread_Load_HomingCallback Callback is already 0"); return OK; } - uint32_t Thread_Load_Center_Head_Rockers(void) + /*uint32_t Thread_Load_Center_Head_Rockers(void) { REPORT_MSG(LoadStages, "Thread Load State Machine step"); CallbackCounter++; @@ -300,7 +299,7 @@ CallbackCounter++; MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, 80, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], Thread_Load_HomingCallback,10000); return OK; - } + }*/ uint32_t Thread_Load_Open_Covers(void) { REPORT_MSG(LoadStages, "Thread Load State Machine step"); @@ -375,9 +374,9 @@ { REPORT_MSG(LoadStages, "Thread Load State Machine step"); 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,4000); + 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++; - 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,10000); + 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); return OK; } @@ -497,7 +496,7 @@ 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); + MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius); LoadingControlId = AddControlCallback(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); @@ -658,10 +657,10 @@ //Thread_Load_Set_Load_Arm_To_Start_Position(); Thread_Load_Dryer_UnLoading(); break; - case THREAD_LOAD_CENTER_HEAD_ROCKERS: + /*case THREAD_LOAD_CENTER_HEAD_ROCKERS: //LoadStages++; Thread_Load_Center_Head_Rockers(); - break; + break;*/ case THREAD_LOAD_OPEN_COVERS: //OPEN DYEING HEAD COVER AND DRYER LID //LoadStages++; Thread_Load_Open_Covers(); |