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 | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 21211481e..8a4960433 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -846,15 +846,22 @@ uint32_t Release_Right_TFU_Tension() return status; } +int SecondFeederCorrection = 4; uint32_t Adjust_Right_TFU_Tension_2nd_Callback(uint32_t MotorId, uint32_t ReadValue) { - Report("Adjust_Right_TFU_Tension_2ndCallback 4 more steps",__FILE__,__LINE__,MotorId,RpMessage,0,0); + MotorStop (HARDWARE_MOTOR_TYPE__MOTO_RDANCER,Soft_Stop); //per L6470 errata between mov and run commands + Report("Adjust_Right_TFU_Tension_2ndCallback x more steps",__FILE__,__LINE__,MotorId,RpMessage,SecondFeederCorrection,0); + if (JobIsActive()==false) + { + Report("release tension - job aborted",__FILE__,__LINE__,MotorId,RpMessage,0,0); + Release_Right_TFU_Tension(); + } return OK; } uint32_t Adjust_Right_TFU_Tension_Callback(uint32_t MotorId, uint32_t ReadValue) { Report("Adjust_Right_TFU_Tension_Callback",__FILE__,__LINE__,MotorId,RpMessage,0,0); - MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,4* MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].microstep, Release_Right_TFU_TensionCallback,1000); + MotorMoveWithCallback(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, 1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].directionthreadwize,SecondFeederCorrection* MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].microstep, Adjust_Right_TFU_Tension_2nd_Callback,1000); RTFU_Up = true; return OK; } |