Diff: main.cpp

Revision:

31:92a9e183be8e

Parent:

30:32e770e91998

Child:

32:cfc3d7420fa5

--- a/main.cpp	Thu May 23 14:12:06 2019 +0000
+++ b/main.cpp	Fri May 24 10:29:09 2019 +0000
@@ -1171,7 +1171,7 @@
                 uint16_t steps = (uint32_t) rxMsg.data[2]*0x00000100;
                 steps = steps + ((uint32_t)rxMsg.data[1]);
                 TBmotorSteps =steps;
-                pc.printf("pippo; %d",steps);
+                //pc.printf("pippo; %d",steps);
                 //stepSetting();
                 cellsCountSet = rxMsg.data[3];
                 if ((flags&0x01)==0x01) {
@@ -1660,6 +1660,19 @@
         if (tractorSpeedRead==0) {
             speedClock=0;
         }
+        if ((tractorSpeed_MtS_timed>0.0f)&&(oldTractStop==1)){
+            alarmDelay.start();
+            oldTractStop=0;
+        }
+        if (alarmDelay.read()>5){
+            alarmEnable=true;
+        }
+        if ((tractorSpeed_MtS_timed<=0.05f)){
+            oldTractStop=1;
+            alarmDelay.stop();
+            alarmDelay.reset();
+            alarmEnable=false;
+        }            
 
         // inversione segnali ingressi
         #if !defined(simulaBanco)
@@ -1853,7 +1866,7 @@
                 #endif
                 if (tractorSpeed_MtS_timed>0.2f){
                     if (timeIntraPick >= (memoIntraPick*2)) {
-                        if ((aspettaStart==0)) {
+                        if ((aspettaStart==0)&&(alarmEnable==true)) {
                             if (firstStart==0) {
                                 all_pickSignal=1;
                             }
@@ -1881,7 +1894,7 @@
                             }
                         }
                     }
-                    if (tractorSpeed_MtS_timed>0.2f){
+                    if ((tractorSpeed_MtS_timed>0.2f)&&(alarmEnable==true)){
                         double oldLastPr = (double)oldLastPulseRead*2.8f;
                         if((double)speedTimeOut.read_us()> (oldLastPr)) {
                             if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
@@ -2025,7 +2038,7 @@
                 #endif
             }
             if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0))&&(simStepper==0)) {
-                if (firstStart==0) {
+                if ((firstStart==0)&&(alarmEnable==true)) {
                     if (tractorSpeed_MtS_timed>0.4f){
                         if (cntTbError>5) {
                             all_cellSignal=1;
@@ -2067,7 +2080,7 @@
                     #endif
                 }
             }
-            if (tractorSpeed_MtS_timed>0.0f){
+            if ((tractorSpeed_MtS_timed>0.0f)&&(alarmEnable==true)){
                 if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>5)) {
                     if (firstStart==0) {
                         all_noStepRota=1;
@@ -2384,7 +2397,7 @@
                     olddcActualDuty=dcActualDuty;
                 }
                 // allarme
-                if (tractorSpeed_MtS_timed>0.0f){
+                if ((tractorSpeed_MtS_timed>0.0f)&&(alarmEnable==true)){
                     if (SDwheelTimer.read_ms()>4000) {
                         if (firstStart==0) {
                             all_noDcRotati=1;