Version v1.0.1:

* Improved homing (parallel homing support, better repeatability, better geometric reference point)
 * Improved joint calibration procedure
 * Calibration data can now be stored persistently on the flash memory (no repeated calibration required)
 * Improved logging
 * added PythonAPI to control device easily

New G-Code commands:
 * Enable/Disable motors command, including pose recovery from current position on motor enable
 * Dedicated joint calibration command with save to flash option
 * Set pose command to directly set a target pose for the servo loops, bypassing the motion controller (good for real-time control)

firmware/MotionControllerRP/src/servo_control/actuator_calibration.cpp

@@ -0,0 +1,84 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
+#include <algorithm>
+
+#include "servo_controller.h"
+#include "utilities/logging.h"
+#include "utilities/math_constants.h"
+
+#include "actuator_calibration.h"
+
+
+//*** FUNCTION ***********************************************************************************/
+
+bool measure_calibration_data(
+            LookupTable& encoder_raw_to_motor_pos_lut,
+            LookupTable& motor_pos_to_field_angle_lut,
+            ServoController& servo_controller,
+            float calibration_range,
+            float field_velocity,
+            size_t table_size)
+{
+  LOG_INFO("Measuring motor to encoder angle lookup table...");
+  int sample_count = table_size*4;
+
+  // get required values
+  std::vector<std::pair<float, float>> motor_pos_and_field_angle;
+  std::vector<std::pair<float, float>> encoder_angle_and_motor_pos;
+
+  auto& motor_driver = servo_controller.get_motor_driver();
+  float pole_pair_count = servo_controller.get_pole_pair_count();
+  float start_field_angle = motor_driver.get_field_angle();
+  float field_angle_step = calibration_range*pole_pair_count/(sample_count-1);
+
+  auto run_measurement = [&](int sample_count, float field_angle_step) {
+    // Measure in increasing direction
+    for (size_t i = 0; i < sample_count; ++i) {
+      if(i>0)
+        motor_driver.rotate_field(field_angle_step, field_velocity, nullptr);
+
+      float encoder_angle_raw = servo_controller.get_encoder().read_abs_angle_raw();
+      float field_angle = motor_driver.get_field_angle();
+      float motor_pos = (field_angle-start_field_angle)/pole_pair_count;
+      // TODO: read motor_pos from precise reference encoder
+
+      encoder_angle_and_motor_pos.push_back({encoder_angle_raw, motor_pos});
+      motor_pos_and_field_angle.push_back({motor_pos, field_angle});
+    }
+  };
+
+  // Measure in increasing direction
+  LOG_DEBUG("Running foreward pass...");
+  run_measurement(sample_count, field_angle_step);
+  LOG_DEBUG("Running backward pass...");
+  run_measurement(sample_count, -field_angle_step);
+
+  // rotate back to start position
+  motor_driver.rotate_field(start_field_angle-motor_driver.get_field_angle(), 
+    Constants::TWO_PI_F*40.0f, [&servo_controller]() {
+      servo_controller.get_encoder().read_abs_angle_raw();
+  });
+
+  // build lookup tables
+  bool ok = encoder_raw_to_motor_pos_lut.init_interpolating(encoder_angle_and_motor_pos, table_size, true);
+  encoder_raw_to_motor_pos_lut.optimize_lut(encoder_angle_and_motor_pos);
+  if(ok == false) {
+    LOG_ERROR("Creating lookup table encoder_raw_angle -> motor_pos failed.");
+    return false;
+  }
+
+  ok = motor_pos_to_field_angle_lut.init_interpolating(motor_pos_and_field_angle, table_size/2, true);
+  motor_pos_to_field_angle_lut.optimize_lut(motor_pos_and_field_angle);
+  if(ok == false) {
+    LOG_ERROR("Creating lookup table motor_pos -> field_angle failed.");
+    return false;
+  }
+
+  LOG_INFO("finished");
+  return true;
+}