diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 18 |
1 files changed, 11 insertions, 7 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 4477835d0..67f2227d2 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -26,6 +26,7 @@ //by recieved esign flow of the user from the UI /////////////////////////////////////////////////////////////////////////////////////////// +uint32_t CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0}; TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW}; HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS}; @@ -230,9 +231,12 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { MotorControlConfig[index].m_calculatedError = MotorControlConfig[index].m_params.MIN; }*/ - - MotorSetSpeed(ThreadMotorIdToMotorId[index], (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index], MotorsCfg[ThreadMotorIdToMotorId[index]].microstep); - //SetMotorFreq (index, MotorControlConfig[index].m_calculatedError); + uint32_t calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index]; + if (abs(calculated_speed-CurrentControlledSpeed[index])>5) + { + CurrentControlledSpeed[index] = calculated_speed; + MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed, MotorsCfg[ThreadMotorIdToMotorId[index]].microstep); + } } return OK; @@ -273,7 +277,7 @@ bool InitialProcess = false; MotorControlConfig[Motor_i].m_params.Kp = MotorsControl[Pid_Id].proportionalgain; MotorControlConfig[Motor_i].m_params.Ki = MotorsControl[Pid_Id].integraltime; MotorControlConfig[Motor_i].m_params.epsilon = 0.01; - MotorControlConfig[Motor_i].m_params.dt = eOneMillisecond; + MotorControlConfig[Motor_i].m_params.dt = 50; MotorControlConfig[Motor_i].m_calculatedError = 0; MotorControlConfig[Motor_i].m_integral = 0; MotorControlConfig[Motor_i].m_isEnabled = true; @@ -286,11 +290,11 @@ bool InitialProcess = false; #ifdef DEBUG_TEST_FUNCTIONS if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled - ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadLengthCBFunction, eOneMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); + ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled - ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eHundredMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); + ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled - ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eHundredMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); + ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i); /*if (HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled //AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],0); // continue; |