make the move message smaller

Opentrons · Nov 8, 2024 · f83e7af · f83e7af
1 parent 34b7181
commit f83e7af
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Showing 3 changed files with 15 additions and 34 deletions.
diff --git a/stm32-modules/include/common/core/circular_buffer.hpp b/stm32-modules/include/common/core/circular_buffer.hpp
@@ -22,7 +22,7 @@ class CircularBuffer {
             return false;
         }
 
-        _buffer[_tail] = item;
+        _buffer.at(_tail) = item;
         _tail = (_tail + 1) % buffer_size;
 
         if (full()) {
@@ -34,7 +34,7 @@ class CircularBuffer {
     }
 
     auto dequeue() -> T {
-        T item = _buffer[_head];
+        T item = _buffer.at(_head);
         _head = (_head + 1) % buffer_size;
         _count--;
 

diff --git a/stm32-modules/include/flex-stacker/firmware/motor_interrupt.hpp b/stm32-modules/include/flex-stacker/firmware/motor_interrupt.hpp
@@ -15,12 +15,10 @@ static constexpr int TIMER_FREQ = 100000;
 
 struct Move {
     MotorID motor_id;
+    motor_util::MotorState* motor_state;
     uint32_t move_id;
     bool direction;
-    float speed;
-    float acceleration;
-    float speed_discont;
-    uint64_t steps;
+    float distance;
     bool limit_switch;
     bool has_next_move;
 };
@@ -74,27 +72,18 @@ class MotorInterruptController {
         _response_id = move_id;
     }
     auto start_move(Move move) -> void {
+        motor_util::MotorState* state = move.motor_state;
         _stop = false;
         set_direction(move.direction);
         _profile = motor_util::MovementProfile(
-            TIMER_FREQ, move.speed_discont, move.speed, move.acceleration,
+            TIMER_FREQ, state->get_speed_discont(),
+            move.limit_switch ? state->get_speed_discont() : state->get_speed(),
+            state->get_accel(),
             move.limit_switch ? motor_util::MovementType::OpenLoop
                               : motor_util::MovementType::FixedDistance,
-            move.steps);
-        _policy->enable_motor(move.motor_id);
-        _response_id = move.move_id;
-    }
-
-    auto start_movement(uint32_t move_id, bool direction,
-                        uint32_t steps_per_sec_discont, uint32_t steps_per_sec,
-                        uint32_t step_per_sec_sq) -> void {
-        _stop = false;
-        set_direction(direction);
-        _profile = motor_util::MovementProfile(
-            TIMER_FREQ, steps_per_sec_discont, steps_per_sec, step_per_sec_sq,
-            motor_util::MovementType::OpenLoop, 0);
+            state->get_distance(move.distance));
         _policy->enable_motor(_id);
-        _response_id = move_id;
+        _response_id = move.move_id;
     }
     auto stop_movement(uint32_t move_id, bool disable_motor) -> void {
         _stop = true;

diff --git a/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp
@@ -167,32 +167,24 @@ class MotorTask {
         return Error::NO_ERROR;
     }
 
-
     auto make_move(uint32_t id, MotorID motor_id, bool direction,
                    float distance, bool has_next_move = false) -> Move {
-        MotorState& state = motor_state(motor_id);
         return Move{.motor_id = motor_id,
+                    .motor_state = &motor_state(motor_id),
                     .move_id = id,
                     .direction = direction,
-                    .speed = state.get_speed(),
-                    .acceleration = state.get_accel(),
-                    .speed_discont = state.get_speed_discont(),
-                    .steps = state.get_distance(distance),
+                    .distance = distance,
                     .limit_switch = false,
                     .has_next_move = has_next_move};
     }
 
     auto make_home_move(uint32_t id, MotorID motor_id, bool direction,
                         bool has_next_move = false) -> Move {
-        MotorState& state = motor_state(motor_id);
         return Move{.motor_id = motor_id,
+                    .motor_state = &motor_state(motor_id),
                     .move_id = id,
                     .direction = direction,
-                    // slow speed to reach limit switch
-                    .speed = state.get_speed_discont(),
-                    .acceleration = state.get_accel(),
-                    .speed_discont = state.get_speed_discont(),
-                    .steps = 0,
+                    .distance = 0,
                     .limit_switch = true,
                     .has_next_move = has_next_move};
     }
@@ -278,7 +270,6 @@ class MotorTask {
         }
         Controller& controller = controller_from_id(m.motor_id);
         MotorState& state = motor_state(m.motor_id);
-        auto direction = m.mm > 0;
         if (m.mm_per_second.has_value()) {
             state.speed_mm_per_sec = m.mm_per_second.value();
         }
@@ -288,6 +279,7 @@ class MotorTask {
         if (m.mm_per_second_discont.has_value()) {
             state.speed_mm_per_sec_discont = m.mm_per_second_discont.value();
         }
+        auto direction = m.mm > 0;
         auto move =
             make_move(m.id, m.motor_id, direction, std::abs(m.mm), false);
         controller.start_move(move);