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 | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index b6c1fea57..8d1ea20fa 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -127,8 +127,8 @@ void ThreadUpdateProcessLength (double length, void *Funcptr) ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr; initialpos = 0xFFFF; } -double MotorSentData[100] = {0}; -uint32_t PosDif[100] = {0}; +double MotorSentData[102] = {0}; +uint32_t PosDif[102] = {0}; int MotorDataIndex = 0; @@ -181,7 +181,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue) //PosDif[MotorDataIndex] = positionDiff; MotorSentData[MotorDataIndex] = length; MotorDataIndex+=1; - if (MotorDataIndex == 99) MotorDataIndex = 0; + if (MotorDataIndex >= 97) MotorDataIndex = 0; static int pooler_counter = 0; pooler_counter++; TotalProcessedLength+= (length/100); @@ -360,7 +360,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) if (ReadBreakSensor()==ERROR) { //LOG_ERROR(index, "ReadBreakSensor Error"); - JobEndReason = JOB_DANCER_FAIL; + JobEndReason = JOB_THREAD_BREAK; //SendJobProgress(0.0,0,false, "ReadBreakSensor Error"); EndState(CurrentJob,"ReadBreakSensor Error" ); } @@ -372,7 +372,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) { usnprintf(Message, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint); JobAbortedByUser = true; - JobEndReason = JOB_THREAD_BREAK; + JobEndReason = JOB_DANCER_FAIL; EndState(CurrentJob,Message ); } NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index]; @@ -404,7 +404,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) KeepReadValue = TranslatedReadValue; } }*/ - if (abs(calculated_speed-CurrentControlledSpeed[index])>5) + if (abs(calculated_speed-CurrentControlledSpeed[index])>2) { CurrentControlledSpeed[index] = calculated_speed; MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed); @@ -533,6 +533,7 @@ void SetOriginMotorSpeed(float process_speed) / (2 * PI * MotorsCfg[HW_Motor_Id].pulleyradius); //MotorControlConfig[Motor_i].m_SetParam = motor_speed; OriginalMotorSpd_2PPS[Motor_i] = (int) motor_speed; + CurrentControlledSpeed[Motor_i] = (int) motor_speed; } } |