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Firmware Version 1.0.4

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This commit is contained in:
0x23 2026-03-13 09:10:45 +01:00
parent 18313cc6ae
commit e13cbda4cc
26 changed files with 794 additions and 256 deletions
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48
firmware/MotionControllerRP/src/robot.h
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@ -20,17 +20,11 @@
#include "motion_control/motion_controller.h"
#include "command_parser/command_parser.h"
constexpr int ENCODER_LUT_SIZE = 256;
//*** CALSS *****************************************************************************
//*** CLASS *****************************************************************************
class Robot;
//--- PersistentData --------------------------------------------------------------------
struct PersistentRobotData {
float encoder_lut[NUM_JOINTS][ENCODER_LUT_SIZE];
};
class RobotJoint;
class IRobotTool;
//--- SharedData ------------------------------------------------------------------------
@ -54,36 +48,6 @@ struct SharedData {
spin_lock_t* lock = nullptr;
};
//--- RobotJoint ------------------------------------------------------------------------
class RobotJoint {
public:
RobotJoint(MT6835Encoder* encoder, TB6612MotorDriver* motor_driver, int pole_pairs);
~RobotJoint();
void init(int joint_idx);
bool calibrate(bool print_measurements);
void update(float dt, float one_over_dt);
void update_target(float p, float v);
bool load_calibration();
bool store_calibration();
private:
std::string calib_data_filename(std::string data_name) const;
public:
int joint_idx = 0;
bool is_homed = false;
bool is_calibrated = false;
float position;
float velocity;
MT6835Encoder* encoder;
TB6612MotorDriver* motor_driver;
ServoController* servo_controller;
};
//--- Robot -----------------------------------------------------------------------------
class Robot : public ICommandProcessor {
@ -103,6 +67,8 @@ class Robot : public ICommandProcessor {
void set_pose(const Pose6DF& pos);
Pose6DF pose_from_joint_angles();
CommandParser* get_command_parser();
public:
void send_reply(const char* str) override;
@ -116,6 +82,7 @@ class Robot : public ICommandProcessor {
void process_set_servo_parameter_command(const GCodeCommand& cmd, std::string& reply);
void process_home_command(const GCodeCommand& cmd, std::string& reply);
void process_calibrate_joint_command(const GCodeCommand& cmd, std::string& reply);
void process_tool_output_command(const GCodeCommand& cmd, std::string& reply);
protected:
bool check_all_joints_ready(); // checks if all joints are homed and calibrated
@ -136,6 +103,7 @@ class Robot : public ICommandProcessor {
CommandParser command_parser;
Pose6DF current_pose;
float current_tool_outputs[NUM_TOOLS];
LinearAngular max_acceleration;
LinearAngular current_feedrate;
@ -146,4 +114,6 @@ class Robot : public ICommandProcessor {
FrequencyCounter servo_loop_frequency_counter;
FrequencyCounter motion_controller_frequency_counter;
std::array<IRobotTool*, NUM_TOOLS> robot_tools;
};