diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 3 | ||||
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c | 26 |
2 files changed, 21 insertions, 8 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index 0aff26320..049e64a64 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -647,6 +647,9 @@ // CurrentControlledSpeed[FEEDER_MOTOR] = 1000; //MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmInfo.LoadArmRounds); + ThreadMotorIdToMotorId[FEEDER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_RDRIVING ; + ThreadMotorIdToMotorId[DRYER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING; + MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&DrierPrevLocation); numberOfCycles = 0; numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/**LoadArmInfo.LoadArmRounds*/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius; diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c index 45ab2cb19..26616c141 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c @@ -41,11 +41,7 @@ double CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0}; -#ifndef DRIER_CONTROL_TEST -TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW}; -#else 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}; -#endif HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS}; uint32_t ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF,0xFF,0xFF,0xFF,0xFF}; uint32_t SpeedControlId=0xFF; @@ -121,8 +117,8 @@ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Rea if (Current_Read < Previous_Read) { - Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1; ReportWithPackageFilter(ThreadFilter,"Length rollover",__FILE__,__LINE__,(int)Current_Read,RpWarning,(int)Previous_Read,0); + Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1; } else Time_Pass = Current_Read - Previous_Read; @@ -500,6 +496,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) } KeepReadValue = ReadValue; TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint; + if (abs(TranslatedReadValue) > 0x2000) + { + TranslatedReadValue = 0x3FFF- TranslatedReadValue; //overcome zero environment + } if (index == POOLER_MOTOR) { //pooler dancer is right sided: data is opposite @@ -608,14 +608,14 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue) DancerError[DancerId] = NormalizedError; MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam, &MotorControlConfig[index].m_params, &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral); - if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit + if ((index != FEEDER_MOTOR)||(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].speedmaster == false)) //feeder unit handles errors opposite to left unit { MotorControlConfig[index].m_calculatedError = (-1*MotorControlConfig[index].m_calculatedError); } - else + /*else { //KeepNormalizedError = NormalizedError; - } + }*/ /*if ((JobCounter % 100) == 0) { //if (index == WINDER_MOTOR) //feeder unit handles errors opposite to left unit @@ -742,6 +742,16 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request) EnableIntersegment = JobTicket->enableintersegment; IntersegmentLength = JobTicket->intersegmentlength; + if(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].speedmaster == false) + { + ThreadMotorIdToMotorId[FEEDER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING; + ThreadMotorIdToMotorId[DRYER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_RDRIVING; + } + else + { + ThreadMotorIdToMotorId[FEEDER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_RDRIVING ; + ThreadMotorIdToMotorId[DRYER_MOTOR] = HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING; + } MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, Hard_Stop); if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) != LIMIT) |