diff options
Diffstat (limited to 'Software/Embedded_SW/Embedded/Modules/Thread')
| -rw-r--r-- | Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c | 30 |
1 files changed, 15 insertions, 15 deletions
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c index d2f6170cf..837221274 100644 --- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c +++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c @@ -146,7 +146,7 @@ Control_Voltage_To_Blower(BlowerCfg.voltage-500); Control_Dryer_Fan(STOP,75);//use START or STOP, 0 - 100% LoadStages++; - //ThreadLoadStateMachine(LoadStages); + ThreadLoadStateMachine(LoadStages); } return OK; } @@ -167,7 +167,7 @@ //storeLoadArmParameters(); SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM); //set this point as the spool home LoadStages++; - //ThreadLoadStateMachine(LoadStages); + ThreadLoadStateMachine(LoadStages); } return OK; } @@ -198,7 +198,7 @@ LoadStages++; SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM); //set this point as the spool home - //ThreadLoadStateMachine(LoadStages); + ThreadLoadStateMachine(LoadStages); return OK; } uint32_t Thread_Load_Set_Load_Arm_To_Start_Position(void) @@ -258,7 +258,7 @@ } if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this stage we should wait for user call { - //ThreadLoadStateMachine(LoadStages); + ThreadLoadStateMachine(LoadStages); } } } @@ -379,7 +379,7 @@ { Control_Dryer_Fan(START,75);//use START or STOP, 0 - 100% LoadStages++; - //ThreadLoadStateMachine(LoadStages); + ThreadLoadStateMachine(LoadStages); } return OK; } @@ -394,14 +394,7 @@ uint32_t Thread_Load_Dryer_MovetoEncoderPosition_Callback(uint32_t MotorId, uint32_t ReadValue) { - if(ControlId != 0xFF) - { - MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz); - RemoveControlCallback(ControlId, ThreadLoadControlCBFunction ); - MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround); - - ControlId = 0xFF; - } + MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, 200); if (CallbackCounter) { CallbackCounter--; @@ -410,7 +403,7 @@ LoadStages++; if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call { - //ThreadLoadStateMachine(LoadStages); + ThreadLoadStateMachine(LoadStages); } } } @@ -421,6 +414,12 @@ uint32_t Thread_Load_Dryer_Loading_Callback(uint32_t MotorId, uint32_t ReadValue) { Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0); + if(ControlId != 0xFF) + { + MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz); + RemoveControlCallback(ControlId, ThreadLoadControlCBFunction ); + ControlId = 0xFF; + } //REPORT_MSG(MotorId, "Thread_Load_Dryer_Loading_Callback Motor Id"); MotorMovetoEncoderPosition(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Thread_Load_Dryer_MovetoEncoderPosition_Callback,10000); return OK; @@ -477,7 +476,7 @@ ControlId = 0xFF; ThreadAbortJoggingFunc(); LoadStages++; - //ThreadLoadStateMachine(LoadStages); + ThreadLoadStateMachine(LoadStages); return OK; } uint32_t Thread_Load_Jog_Thread(void) @@ -632,6 +631,7 @@ Thread_Load_Jog_Thread(); break; case THREAD_LOAD_END: + LoadStages = THREAD_LOAD_END; Thread_Load_End(); break; default: |