Browse Source

timing updates

Martin Kunz 3 years ago
parent
commit
dac4fd508c

+ 6 - 5
src/main/java/at/acdp/urweb/fhpp/FHMaster.java

@@ -149,16 +149,16 @@ public class FHMaster implements IFHMaster {
         try {
             Thread.sleep(ms);
         } catch (InterruptedException e) {
-            e.printStackTrace();
+            logger.warn("trysleep", e);
         }
     }
 
     private void sendReq(byte[] what) {
         List<ModbusRequest> blist = new ArrayList<>();
         blist.add(new WriteMultipleRegistersRequest(0,4, what));
-        trySleep(10);
+        trySleep(20);
         sendRequests(master, blist);
-        trySleep(10);
+        trySleep(20);
 
     }
 
@@ -166,10 +166,11 @@ public class FHMaster implements IFHMaster {
     public void bereitschaft() {
 
         //S. 135 "Betriebsbereitschaft
+        trySleep(20);
         sendReq(new byte[]{0b00000001,0,0,0,0,0,0,0});
+        trySleep(20);
         sendReq(new byte[]{0b00000011,0,0,0,0,0,0,0});
-
-
+        trySleep(20);
         //S. 140 Betriebsbereischaft - direktauftrag
        // sendReq(new byte[]{0b00000100,0,0,0,0,0,0,0});
        // sendReq(new byte[]{0b01000111,0,0,0,0,0,0,0});

+ 7 - 4
src/main/java/at/acdp/urweb/web/FestoXRServer.java

@@ -105,9 +105,9 @@ public class FestoXRServer {
                 return "Controller not enabled";
             }
             Main.fhm.direktAuftrag(relPos, speed, 0, true, false);
-            Thread.sleep(10);
+            Thread.sleep(20);
             Main.fhm.direktAuftrag(relPos, speed, 1, true, false);
-            Thread.sleep(10);
+            Thread.sleep(20);
 
             while (true) {
                 boolean reached = checkPos(targetPos);
@@ -118,8 +118,8 @@ public class FestoXRServer {
                 Thread.sleep(100);
             }
         } catch (ExecutionException | InterruptedException e) {
-            logger.warn("abs failed", e);
-            return "abs failed: " + e.toString();
+            logger.warn("rel failed", e);
+            return "rel failed: " + e.toString();
         }
     }
 
@@ -144,6 +144,7 @@ public class FestoXRServer {
                     paused=false;
                 }
                 if (paused==false&&(rs == 3 || rs == 4)) { //paused -> stop axis
+                    Thread.sleep(20);
                     Main.fhm.direktAuftrag(targetPos, speed, 0, false, false);
                     Thread.sleep(20);
                     Main.fhm.direktAuftrag(targetPos, speed, 0, false, true);
@@ -152,6 +153,7 @@ public class FestoXRServer {
 
                 }
                 else if (rs == 0 || rs == 1) { //stop -> abort
+                    Thread.sleep(20);
                     Main.fhm.direktAuftrag(targetPos, speed, 0, false, false);
                     Thread.sleep(20);
                     Main.fhm.direktAuftrag(targetPos, speed, 0, false, true);
@@ -170,6 +172,7 @@ public class FestoXRServer {
 
     private void restart(int targetPos, int speed) throws InterruptedException {
         Main.fhm.bereitschaft();
+        Thread.sleep(20);
         Main.fhm.direktAuftrag(targetPos, speed, 0, false, false);
         Thread.sleep(20);
         Main.fhm.direktAuftrag(targetPos, speed, 1, false, false);