diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c index ddcba57bc..d8a96a4d9 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c @@ -418,6 +418,7 @@ void ScrewsStartControlTimer (void) return; } +int random = 0; void ScrewTimerInterrupt(int ARG0) { ROM_TimerIntClear(Screw_timerBase, TIMER_TIMA_TIMEOUT); // Clear the timer interrupt @@ -427,7 +428,7 @@ void ScrewTimerInterrupt(int ARG0) { ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime); MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection); - MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed); + MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed+random); ScrewChangeCounter = 0; ScrewChangeLimit = ScrewRunningTime/12000000; ScrewDirectionChangeCounter++; @@ -437,6 +438,9 @@ void ScrewTimerInterrupt(int ARG0) TimerDisable(Screw_timerBase, TIMER_A); } ROM_IntMasterEnable(); + random++; + if (random >= 2) + random = -1; //Report("ScrewTimerInterrupt dir, duration, speed", __FILE__,ScrewCurrentDirection,ScrewRunningTime, RpMessage, ScrewSpeed, 0); // // Enable all interrupts. |