diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 29 |
1 files changed, 19 insertions, 10 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 931400aaa..c478b82de 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -164,7 +164,7 @@ { if (Is_PP_Machine()) - kval_upperValue = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun; + kval_upperValue = 28; else kval_upperValue = 70; @@ -349,7 +349,10 @@ if (Head_Type != HEAD_TYPE_ARC) { CallbackCounter++; - 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); + if (MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 300, Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,20000)==ERROR) + { + Thread_Load_HomingCallback(HARDWARE_MOTOR_TYPE__MOTO_DH_LID,NO_LIMIT); + } } 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); @@ -395,8 +398,8 @@ { keepmicrostep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep; keepkvalrun = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun; - if (keepkvalrun>=25) - keepkvalrun = 25; + /*if (keepkvalrun>=25) + keepkvalrun = 25;*/ Report("Read_Dryer_ENC_Position()",__FILE__,__LINE__,0,RpWarning,Read_Dryer_ENC_Position(),0); @@ -428,6 +431,7 @@ if (FPGA_Read_limit_Switches(GPI_SW_SPOOL_EXISTS)==LIMIT) { REPORT_MSG(LIMIT, "No cone in winder"); + Thread_Load_HomingCallback(HARDWARE_MOTOR_TYPE__MOTO_WINDER,NO_LIMIT); //return ERROR; } CallbackCounter++; @@ -440,8 +444,8 @@ { keepmicrostep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep; keepkvalrun = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun; - if (keepkvalrun>=25) - keepkvalrun = 25; + /*if (keepkvalrun>=25) + keepkvalrun = 25;*/ Report("Thread_Load_Close_Rockers",__FILE__,__LINE__,keepkvalrun,RpMessage,keepmicrostep,0); MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 8); @@ -460,7 +464,7 @@ uint32_t Thread_Load_Close_Dancers(void) //Send Dancer Motors To Preset Location, Check That The Dancers Are On The Thread { - uint32_t current = 0; + uint32_t current = 1; REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Close_Dancers"); 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,10000); @@ -507,7 +511,7 @@ if (Head_Type != HEAD_TYPE_ARC) { CallbackCounter++; - 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); + MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_LID,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 300, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], Thread_Load_HomingCallback,20000); } 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); @@ -1227,11 +1231,11 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) index = IfIndex&0xFF; DancerId = ThreadMotorIdToDancerId[index]; - if (ReadValue < 10) + /*if (ReadValue < 10) { Report("Dancer value read too small.",__FILE__,__LINE__,DancerId,RpError,ReadValue,0); return OK; - } + }*/ if (ReadValue == 0x3FFF) { return OK; @@ -1242,6 +1246,11 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) //pooler dancer is right sided: data is opposite TranslatedReadValue = (-1*TranslatedReadValue); } + if (abs(TranslatedReadValue) > 0x2000) + { + TranslatedReadValue = 0x3FFF- TranslatedReadValue; //overcome zero environment + } + //TranslatedReadValue = 0;//test MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue); MotorSamplePointer[index]++; |