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refactor(flex-stacker): linear motion system and motor task (#473)
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* simplify linear motion system config
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@ahiuchingau
ahiuchingau authored Nov 7, 2024
1 parent 155c057 commit 48519bf
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Showing 2 changed files with 87 additions and 133 deletions.
43 changes: 9 additions & 34 deletions stm32-modules/include/common/core/linear_motion_system.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,60 +6,35 @@
namespace lms {

struct BeltConfig {
// NOLINTNEXTLINE(misc-non-private-member-variables-in-classes)
float pulley_diameter; // mm
[[nodiscard]] constexpr auto get_mm_per_rev() const -> float {
static constexpr auto mm_per_rev(float pulley_diameter) -> float {
return static_cast<float>(pulley_diameter * std::numbers::pi);
}
};

struct LeadScrewConfig {
// NOLINTNEXTLINE(misc-non-private-member-variables-in-classes)
float lead_screw_pitch; // mm/rev
// NOLINTNEXTLINE(misc-non-private-member-variables-in-classes)
float gear_reduction_ratio; // large teeth / small teeth
[[nodiscard]] constexpr auto get_mm_per_rev() const -> float {
static constexpr auto mm_per_rev(float lead_screw_pitch,
float gear_reduction_ratio) -> float {
return lead_screw_pitch / gear_reduction_ratio;
}
};

struct GearBoxConfig {
// NOLINTNEXTLINE(misc-non-private-member-variables-in-classes)
float gear_diameter; // mm
// NOLINTNEXTLINE(misc-non-private-member-variables-in-classes)
float gear_reduction_ratio; // large teeth / small teeth
[[nodiscard]] constexpr auto get_mm_per_rev() const -> float {
static constexpr auto mm_per_rev(float gear_diameter,
float gear_reduction_ratio) -> float {
return static_cast<float>((gear_diameter * std::numbers::pi) /
gear_reduction_ratio);
}
};

template <typename MC>
concept MotorMechanicalConfig = requires {
std::is_same_v<MC, BeltConfig> || std::is_same_v<MC, LeadScrewConfig> ||
std::is_same_v<MC, GearBoxConfig>;
};

template <MotorMechanicalConfig MEConfig>
struct LinearMotionSystemConfig {
// NOLINTNEXTLINE(misc-non-private-member-variables-in-classes)
MEConfig mech_config{};
float mm_per_rev;
// NOLINTNEXTLINE(misc-non-private-member-variables-in-classes)
float steps_per_rev{};
float steps_per_rev;
// NOLINTNEXTLINE(misc-non-private-member-variables-in-classes)
float microstep{};
float microstep;
[[nodiscard]] constexpr auto get_usteps_per_mm() const -> float {
return (steps_per_rev * microstep) / (mech_config.get_mm_per_rev());
}
[[nodiscard]] constexpr auto get_usteps_per_um() const -> float {
return (steps_per_rev * microstep) /
// NOLINTNEXTLINE(cppcoreguidelines-avoid-magic-numbers)
(mech_config.get_mm_per_rev() * 1000.0);
}
[[nodiscard]] constexpr auto get_um_per_step() const -> float {
return (mech_config.get_mm_per_rev()) / (steps_per_rev * microstep) *
// NOLINTNEXTLINE(cppcoreguidelines-avoid-magic-numbers)
1000;
return (steps_per_rev * microstep) / mm_per_rev;
}
};

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177 changes: 78 additions & 99 deletions stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,63 +30,65 @@ concept MotorControlPolicy = requires(P p, MotorID motor_id) {
using Message = messages::MotorMessage;
using Controller = motor_interrupt_controller::MotorInterruptController;

static constexpr struct lms::LinearMotionSystemConfig<lms::LeadScrewConfig>
motor_x_config = {
.mech_config = lms::LeadScrewConfig{.lead_screw_pitch = 9.7536,
.gear_reduction_ratio = 1.0},
.steps_per_rev = 200, .microstep = 16,
};
static constexpr struct lms::LinearMotionSystemConfig<lms::LeadScrewConfig>
motor_z_config = {
.mech_config = lms::LeadScrewConfig{.lead_screw_pitch = 9.7536,
.gear_reduction_ratio = 1.0},
.steps_per_rev = 200, .microstep = 16,
};
static constexpr struct lms::LinearMotionSystemConfig<lms::GearBoxConfig>
motor_l_config = {
.mech_config = lms::GearBoxConfig{.gear_diameter = 16.0,
.gear_reduction_ratio = 16.0 / 30.0},
.steps_per_rev = 200, .microstep = 16,
};

struct MotorState {
// NOLINTNEXTLINE(misc-non-private-member-variables-in-classes)
float steps_per_mm;
lms::LinearMotionSystemConfig lms_config;
// NOLINTNEXTLINE(misc-non-private-member-variables-in-classes)
float speed_mm_per_sec;
// NOLINTNEXTLINE(misc-non-private-member-variables-in-classes)
float accel_mm_per_sec_sq;
// NOLINTNEXTLINE(misc-non-private-member-variables-in-classes)
float speed_mm_per_sec_discont;
[[nodiscard]] auto get_usteps_per_mm() const -> float {
return lms_config.get_usteps_per_mm();
}
[[nodiscard]] auto get_speed() const -> float {
return speed_mm_per_sec * steps_per_mm;
return speed_mm_per_sec * get_usteps_per_mm();
}
[[nodiscard]] auto get_accel() const -> float {
return accel_mm_per_sec_sq * steps_per_mm;
return accel_mm_per_sec_sq * get_usteps_per_mm();
}
[[nodiscard]] auto get_speed_discont() const -> float {
return speed_mm_per_sec_discont * steps_per_mm;
return speed_mm_per_sec_discont * get_usteps_per_mm();
}
[[nodiscard]] auto get_distance(float mm) const -> float {
return mm * steps_per_mm;
return mm * get_usteps_per_mm();
}
};

struct XState {
static constexpr float DEFAULT_SPEED = 200.0;
static constexpr float DEFAULT_ACCELERATION = 50.0;
static constexpr float DEFAULT_SPEED_DISCONT = 5.0;
};
struct Defaults {
struct X {
static constexpr float SPEED = 200.0;
static constexpr float ACCELERATION = 50.0;
static constexpr float SPEED_DISCONT = 5.0;

struct ZState {
static constexpr float DEFAULT_SPEED = 200.0;
static constexpr float DEFAULT_ACCELERATION = 50.0;
static constexpr float DEFAULT_SPEED_DISCONT = 5.0;
};
struct LState {
static constexpr float DEFAULT_SPEED = 200.0;
static constexpr float DEFAULT_ACCELERATION = 50.0;
static constexpr float DEFAULT_SPEED_DISCONT = 5.0;
static constexpr float MM_PER_REV =
lms::LeadScrewConfig::mm_per_rev(9.7536, 1.0);
static constexpr float STEPS_PER_REV = 200;
static constexpr float MICROSTEP = 16;
};

struct Z {
static constexpr float SPEED = 200.0;
static constexpr float ACCELERATION = 50.0;
static constexpr float SPEED_DISCONT = 5.0;

static constexpr float MM_PER_REV =
lms::LeadScrewConfig::mm_per_rev(9.7536, 1.0);
static constexpr float STEPS_PER_REV = 200;
static constexpr float MICROSTEP = 16;
};

struct L {
static constexpr float SPEED = 200.0;
static constexpr float ACCELERATION = 50.0;
static constexpr float SPEED_DISCONT = 5.0;

static constexpr float MM_PER_REV =
lms::GearBoxConfig::mm_per_rev(16.0, 16.0 / 30.0);
static constexpr float STEPS_PER_REV = 200;
static constexpr float MICROSTEP = 16;
};
};

template <template <class> class QueueImpl>
Expand Down Expand Up @@ -210,46 +212,40 @@ class MotorTask {
-> void {
static_cast<void>(policy);
auto direction = m.mm > 0;
MotorState& state = motor_state(m.motor_id);
if (m.mm_per_second.has_value()) {
motor_state(m.motor_id).speed_mm_per_sec = m.mm_per_second.value();
state.speed_mm_per_sec = m.mm_per_second.value();
}
if (m.mm_per_second_sq.has_value()) {
motor_state(m.motor_id).accel_mm_per_sec_sq =
m.mm_per_second_sq.value();
state.accel_mm_per_sec_sq = m.mm_per_second_sq.value();
}
if (m.mm_per_second_discont.has_value()) {
motor_state(m.motor_id).speed_mm_per_sec_discont =
m.mm_per_second_discont.value();
state.speed_mm_per_sec_discont = m.mm_per_second_discont.value();
}
controller_from_id(m.motor_id)
.start_fixed_movement(
m.id, direction,
motor_state(m.motor_id).get_distance(std::abs(m.mm)),
motor_state(m.motor_id).get_speed_discont(),
motor_state(m.motor_id).get_speed(),
motor_state(m.motor_id).get_accel());
.start_fixed_movement(m.id, direction,
state.get_distance(std::abs(m.mm)),
state.get_speed_discont(), state.get_speed(),
state.get_accel());
}

template <MotorControlPolicy Policy>
auto visit_message(const messages::MoveToLimitSwitchMessage& m,
Policy& policy) -> void {
static_cast<void>(policy);
MotorState& state = motor_state(m.motor_id);
if (m.mm_per_second.has_value()) {
motor_state(m.motor_id).speed_mm_per_sec = m.mm_per_second.value();
state.speed_mm_per_sec = m.mm_per_second.value();
}
if (m.mm_per_second_sq.has_value()) {
motor_state(m.motor_id).accel_mm_per_sec_sq =
m.mm_per_second_sq.value();
state.accel_mm_per_sec_sq = m.mm_per_second_sq.value();
}
if (m.mm_per_second_discont.has_value()) {
motor_state(m.motor_id).speed_mm_per_sec_discont =
m.mm_per_second_discont.value();
state.speed_mm_per_sec_discont = m.mm_per_second_discont.value();
}
controller_from_id(m.motor_id)
.start_movement(m.id, m.direction,
motor_state(m.motor_id).get_speed_discont(),
motor_state(m.motor_id).get_speed(),
motor_state(m.motor_id).get_accel());
.start_movement(m.id, m.direction, state.get_speed_discont(),
state.get_speed(), state.get_accel());
}

template <MotorControlPolicy Policy>
Expand Down Expand Up @@ -299,25 +295,8 @@ class MotorTask {
static_cast<void>(policy);
// sent from the driver task so we know we've written to driver
// successfully
switch (m.motor_id) {
case MotorID::MOTOR_X:
_x_mech_conf.microstep =
static_cast<float>(pow(2, m.microsteps_power));
_x_state.steps_per_mm = _x_mech_conf.get_usteps_per_mm();
break;
case MotorID::MOTOR_Z:
_z_mech_conf.microstep =
static_cast<float>(pow(2, m.microsteps_power));
_z_state.steps_per_mm = _z_mech_conf.get_usteps_per_mm();
break;
case MotorID::MOTOR_L:
_l_mech_conf.microstep =
static_cast<float>(pow(2, m.microsteps_power));
_l_state.steps_per_mm = _l_mech_conf.get_usteps_per_mm();
break;
default:
break;
}
motor_state(m.motor_id).lms_config.microstep =
pow(2, m.microsteps_power);
auto response = messages::AcknowledgePrevious{.responding_to_id = m.id};
static_cast<void>(_task_registry->send_to_address(
response, Queues::HostCommsAddress));
Expand All @@ -327,13 +306,13 @@ class MotorTask {
auto visit_message(const messages::GetMoveParamsMessage& m, Policy& policy)
-> void {
static_cast<void>(policy);
MotorState& state = motor_state(m.motor_id);
auto response = messages::GetMoveParamsResponse{
.responding_to_id = m.id,
.motor_id = m.motor_id,
.velocity = motor_state(m.motor_id).speed_mm_per_sec,
.acceleration = motor_state(m.motor_id).accel_mm_per_sec_sq,
.velocity_discont =
motor_state(m.motor_id).speed_mm_per_sec_discont,
.velocity = state.speed_mm_per_sec,
.acceleration = state.accel_mm_per_sec_sq,
.velocity_discont = state.speed_mm_per_sec_discont,
};
static_cast<void>(_task_registry->send_to_address(
response, Queues::HostCommsAddress));
Expand Down Expand Up @@ -367,29 +346,29 @@ class MotorTask {
Controller& _z_controller;
Controller& _l_controller;
bool _initialized;
lms::LinearMotionSystemConfig<lms::LeadScrewConfig> _x_mech_conf =
motor_x_config;
lms::LinearMotionSystemConfig<lms::LeadScrewConfig> _z_mech_conf =
motor_z_config;
lms::LinearMotionSystemConfig<lms::GearBoxConfig> _l_mech_conf =
motor_l_config;
MotorState _x_state{
.steps_per_mm = motor_x_config.get_usteps_per_mm(),
.speed_mm_per_sec = XState::DEFAULT_SPEED,
.accel_mm_per_sec_sq = XState::DEFAULT_SPEED,
.speed_mm_per_sec_discont = XState::DEFAULT_SPEED_DISCONT,
.lms_config = {.mm_per_rev = Defaults::X::MM_PER_REV,
.steps_per_rev = Defaults::X::STEPS_PER_REV,
.microstep = Defaults::X::MICROSTEP},
.speed_mm_per_sec = Defaults::X::SPEED,
.accel_mm_per_sec_sq = Defaults::X::ACCELERATION,
.speed_mm_per_sec_discont = Defaults::X::SPEED_DISCONT,
};
MotorState _z_state{
.steps_per_mm = motor_z_config.get_usteps_per_mm(),
.speed_mm_per_sec = XState::DEFAULT_SPEED,
.accel_mm_per_sec_sq = XState::DEFAULT_SPEED,
.speed_mm_per_sec_discont = XState::DEFAULT_SPEED_DISCONT,
.lms_config = {.mm_per_rev = Defaults::Z::MM_PER_REV,
.steps_per_rev = Defaults::Z::STEPS_PER_REV,
.microstep = Defaults::Z::MICROSTEP},
.speed_mm_per_sec = Defaults::Z::SPEED,
.accel_mm_per_sec_sq = Defaults::Z::ACCELERATION,
.speed_mm_per_sec_discont = Defaults::Z::SPEED_DISCONT,
};
MotorState _l_state{
.steps_per_mm = motor_l_config.get_usteps_per_mm(),
.speed_mm_per_sec = LState::DEFAULT_SPEED,
.accel_mm_per_sec_sq = LState::DEFAULT_SPEED,
.speed_mm_per_sec_discont = LState::DEFAULT_SPEED_DISCONT,
.lms_config = {.mm_per_rev = Defaults::L::MM_PER_REV,
.steps_per_rev = Defaults::L::STEPS_PER_REV,
.microstep = Defaults::L::MICROSTEP},
.speed_mm_per_sec = Defaults::L::SPEED,
.accel_mm_per_sec_sq = Defaults::L::ACCELERATION,
.speed_mm_per_sec_discont = Defaults::L::SPEED_DISCONT,
};
};

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