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@caila-marashaj
caila-marashaj committed Oct 23, 2024
1 parent df68f41 commit 5ddd0be
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Showing 3 changed files with 258 additions and 260 deletions.
5 changes: 2 additions & 3 deletions stm32-modules/include/thermocycler-gen2/test/test_motor_policy.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,10 +43,9 @@ class TestMotorPolicy : public TestTMC2130Policy {
auto lid_solenoid_disengage() -> void { _solenoid_engaged = false; }
auto lid_solenoid_engage() -> void { _solenoid_engaged = true; }

auto lid_read_closed_switch() -> bool {
return _lid_closed_switch; }
auto lid_read_closed_switch() -> bool { return _lid_closed_switch; }

auto lid_read_open_switch() -> bool {return _lid_open_switch; }
auto lid_read_open_switch() -> bool { return _lid_open_switch; }

auto seal_stepper_start(Callback cb) -> bool {
if (_seal_moving) {
Expand Down
61 changes: 34 additions & 27 deletions stm32-modules/include/thermocycler-gen2/thermocycler-gen2/motor_task.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,15 +137,16 @@ struct LidStepperState {
constexpr static double LID_DEFAULT_VELOCITY_RPM = 125.0F;
// States for lid stepper
enum Status {
IDLE, /**< Not moving.*/
SIMPLE_MOVEMENT, /**< Single stage movement.*/
LATCH_RELEASE_OVERDRIVE, /**< Close lid to ease off latch.*/
LATCH_RELEASE_BACKOFF, /**< Open lid slightly to make sure latch is not stuck before fully opening.*/
OPEN_TO_SWITCH, /**< Open until the open switch is hit.*/
OPEN_OVERDRIVE, /**< Close from switch back to 90º position.*/
CLOSE_TO_SWITCH, /**< Close lid until it hits the switch.*/
CLOSE_OVERDRIVE, /**< Close lid a few degrees into the switch.*/
LIFT_NUDGE, /**< Nudge the plate up with one pin.*/
IDLE, /**< Not moving.*/
SIMPLE_MOVEMENT, /**< Single stage movement.*/
LATCH_RELEASE_OVERDRIVE, /**< Close lid to ease off latch.*/
LATCH_RELEASE_BACKOFF, /**< Open lid slightly to make sure latch is not
stuck before fully opening.*/
OPEN_TO_SWITCH, /**< Open until the open switch is hit.*/
OPEN_OVERDRIVE, /**< Close from switch back to 90º position.*/
CLOSE_TO_SWITCH, /**< Close lid until it hits the switch.*/
CLOSE_OVERDRIVE, /**< Close lid a few degrees into the switch.*/
LIFT_NUDGE, /**< Nudge the plate up with one pin.*/
LIFT_NUDGE_DOWN, /**< Move back to the "open" position after nudging.*/
LIFT_RAISE, /**< Open lid to raise the plate lift.*/
LIFT_LOWER, /**< Close lid to lower the plate lift.*/
Expand Down Expand Up @@ -218,11 +219,11 @@ struct LidState {
OPENING_RETRACT_SEAL, /**< Retracting seal before opening lid.*/
OPENING_RETRACT_SEAL_BACKOFF, /**< Extend seal to ease off of the
limit switch.*/
OPENING_LID_HINGE, /**< Opening lid hinge.*/
OPENING_LID_HINGE, /**< Opening lid hinge.*/
CLOSING_RETRACT_SEAL, /**< Retracting seal before closing lid.*/
CLOSING_RETRACT_SEAL_BACKOFF, /**< Extend seal to ease off of the
limit switch.*/
CLOSING_LID_HINGE, /**< Closing lid hinge.*/
CLOSING_LID_HINGE, /**< Closing lid hinge.*/
CLOSING_EXTEND_SEAL, /**< Extending seal after closing
lid hinge.*/
CLOSING_EXTEND_SEAL_BACKOFF, /**< Retract seal to ease off of the
Expand Down Expand Up @@ -920,8 +921,8 @@ class MotorTask {
error = errors::ErrorCode::SEAL_MOTOR_SWITCH;
} else if (retract_switch) {
// Seal is already retracted, so just open the hinge
error = handle_lid_state_enter(
LidState::Status::CLOSING_LID_HINGE, policy);
error = handle_lid_state_enter(LidState::Status::CLOSING_LID_HINGE,
policy);
} else {
// Always retract seal before closing
error = handle_lid_state_enter(
Expand Down Expand Up @@ -978,32 +979,37 @@ class MotorTask {
}

template <MotorExecutionPolicy Policy>
auto start_latch_release_overdrive(uint32_t response_id, Policy& policy) -> bool {
auto start_latch_release_overdrive(uint32_t response_id, Policy& policy)
-> bool {
// Update velocity for this movement
std::ignore = policy.lid_stepper_set_rpm(
LidStepperState::LID_DEFAULT_VELOCITY_RPM);
// Now start a lid motor movement to the endstop
policy.lid_stepper_set_dac(LID_STEPPER_RUN_CURRENT);
policy.lid_stepper_start(LidStepperState::LATCH_RELEASE_OVERDRIVE_DEGREES, true);
policy.lid_stepper_start(
LidStepperState::LATCH_RELEASE_OVERDRIVE_DEGREES, true);
// Store the new state, as well as the response ID
_lid_stepper_state.status = LidStepperState::Status::LATCH_RELEASE_OVERDRIVE;
_lid_stepper_state.status =
LidStepperState::Status::LATCH_RELEASE_OVERDRIVE;
_lid_stepper_state.response_id = response_id;
return true;
}

template <MotorExecutionPolicy Policy>
auto start_latch_release_backoff(uint32_t response_id, Policy& policy) -> bool {
auto start_latch_release_backoff(uint32_t response_id, Policy& policy)
-> bool {
// First release the latch
policy.lid_solenoid_engage();
std::ignore = policy.lid_stepper_set_rpm(
LidStepperState::LID_DEFAULT_VELOCITY_RPM);
// Now start a lid motor movement to the endstop
policy.lid_stepper_set_dac(LID_STEPPER_RUN_CURRENT);
policy.lid_stepper_start(LidStepperState::LATCH_RELEASE_BACKOFF_DEGREES, false);
policy.lid_stepper_start(LidStepperState::LATCH_RELEASE_BACKOFF_DEGREES,
false);
// Store the new state, as well as the response ID
_lid_stepper_state.status = LidStepperState::Status::LATCH_RELEASE_BACKOFF;
_lid_stepper_state.position =
motor_util::LidStepper::Position::BETWEEN;
_lid_stepper_state.status =
LidStepperState::Status::LATCH_RELEASE_BACKOFF;
_lid_stepper_state.position = motor_util::LidStepper::Position::BETWEEN;
_lid_stepper_state.response_id = response_id;
return true;
}
Expand Down Expand Up @@ -1301,9 +1307,7 @@ class MotorTask {
template <MotorExecutionPolicy Policy>
auto handle_hinge_state_end(Policy& policy) -> errors::ErrorCode {
auto error = errors::ErrorCode::NO_ERROR;
// switch (_lid_stepper_state.status.load()) {
auto _status = _lid_stepper_state.status.load();
switch (_status) {
switch (_lid_stepper_state.status.load()) {
case LidStepperState::Status::SIMPLE_MOVEMENT:
// Turn off the drive current
policy.lid_stepper_set_dac(LID_STEPPER_HOLD_CURRENT);
Expand All @@ -1313,14 +1317,17 @@ class MotorTask {
motor_util::LidStepper::Position::BETWEEN;
break;
case LidStepperState::Status::LATCH_RELEASE_OVERDRIVE:
start_latch_release_backoff(_lid_stepper_state.response_id, policy);
start_latch_release_backoff(_lid_stepper_state.response_id,
policy);
break;
case LidStepperState::Status::LATCH_RELEASE_BACKOFF:
if (!policy.lid_read_closed_switch()) {
// The latch is not holding the lid down, continue to open
policy.lid_stepper_start(LidStepperState::FULL_OPEN_DEGREES, false);
policy.lid_stepper_start(LidStepperState::FULL_OPEN_DEGREES,
false);
// Store the new state, as well as the response ID
_lid_stepper_state.status = LidStepperState::Status::OPEN_TO_SWITCH;
_lid_stepper_state.status =
LidStepperState::Status::OPEN_TO_SWITCH;
_lid_stepper_state.position =
motor_util::LidStepper::Position::BETWEEN;
} else {
Expand Down
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