Francesco Pistone
/
FORIGO_Modula_V6_R2C_DE_HwV5_10gen2019_2019
new
Diff: main.cpp
- Revision:
- 8:0e643ea7834f
- Parent:
- 7:c9fd242538d9
- Child:
- 9:503e2aba047c
--- a/main.cpp Thu Jul 12 06:07:14 2018 +0000 +++ b/main.cpp Tue Jul 24 08:22:50 2018 +0000 @@ -872,6 +872,7 @@ if (quincStart==0){ oldQuincTimeSD = (double) quincTimeSD.read_ms(); quincTime.reset(); + quincTimeSD.reset(); quincStart=1; } } @@ -941,9 +942,11 @@ quincStart=0; countPicks=0; #if !defined(speedMaster) - if (quincCnt>=5){ + if (quincCnt>=3){ if (speedFromMaster>0.0f){ - tractorSpeed_MtS_timed = speedFromMaster + percento; + if (enableSimula==0){ + tractorSpeed_MtS_timed = speedFromMaster + percento; + } } } #endif @@ -984,9 +987,11 @@ } #if !defined(speedMaster) - if (quincCnt>=5){ + if (quincCnt>=3){ if (speedFromMaster>0.0f){ - tractorSpeed_MtS_timed = speedFromMaster + percento; + if (enableSimula==0){ + tractorSpeed_MtS_timed = speedFromMaster + percento; + } } } #endif @@ -1067,7 +1072,7 @@ seedCorrection.attach(&seedCorrect,0.005f); // con 16 becchi a 4,5Kmh ci sono 37mS tra un becco e l'altro, quindi 8 correzioni di tb dcSetting(); #if defined(seedSensor) - seedCheck.rise(&seedSensorTask); + seedCheck.fall(&seedSensorTask); #endif }else{ tftUpdate.attach(&videoUpdate,0.125f); @@ -1217,6 +1222,7 @@ seedFilter.reset(); sincroTimer.reset(); oldSeedWheelZeroPinInput=1; + quincTime.reset(); quincTimeSD.reset(); SDzeroDebounced=1; sincroQui=1; @@ -1470,7 +1476,7 @@ // calcola velocità trattore if(enableSpeed>=2){ if ((pulseSpeedInterval>=0.0f)){ //minIntervalPulse)&&(pulseSpeedInterval<maxInterval)){ - if((quincCnt<5)||(speedFromMaster==0.0f)){ + if((quincCnt<3)||(speedFromMaster==0.0f)||(enableSimula==1)){ tractorSpeed_MtS_timed = ((pulseDistance / pulseSpeedInterval)); // tractor speed (unit= Mt/S) from pulse time interval } /*#if !defined(speedMaster) @@ -1577,7 +1583,11 @@ k5=10.00f; k6=20.50f; }else{*/ - k3=0.050f; + #if defined(speedMaster) + k3=0.010f; + #else + k3=0.050f; + #endif k4=1.103f; k5=10.00f; k6=20.50f; @@ -1755,6 +1765,7 @@ zeroCycleEnd=0; zeroCycle=1; zeroTrigger=0; + noSDzeroRequest=1; } } //************************************************************************************************* @@ -1849,8 +1860,8 @@ #endif } // azzera tutto in time out - if (timeOutZeroSD.read_ms()>=10000){ - if (firstStart==0){ + if ((timeOutZeroSD.read_ms()>=10000)||(noSDzeroRequest==1)){ + if ((firstStart==0)&&(noSDzeroRequest==0)){ all_no_Zeroing=1; } avvicinamento=0; @@ -1867,6 +1878,7 @@ ritardoComandoStop.stop(); timeOutZeroSD.stop(); timeOutZeroSD.reset(); + noSDzeroRequest=0; } if (TBzeroCyclePulse==1){ TBticker.detach();