diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 21 |
1 files changed, 21 insertions, 0 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 74a07e99c..53ab0e8a2 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -200,6 +200,11 @@ } 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) { Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); @@ -222,6 +227,13 @@ else { 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); + } if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this stage we should wait for user call { //ThreadLoadStateMachine(LoadStages); @@ -270,6 +282,15 @@ //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); + 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); CallbackCounter++; |