From b507af76fb95f86a216ba228205fa39d09cb82c3 Mon Sep 17 00:00:00 2001
From: phil <me@filou.se>
Date: Sat, 18 Jun 2022 13:45:53 +0200
Subject: [PATCH] elaine, test patch and fixes
---
control-patches/OSC-test.maxpat | 516 ++-
control-patches/SMS_Control_Elaine.maxpat | 4445 +++++++++++++++++++
control-patches/SMS_TargetSelect_sub.maxpat | 5 +-
src/motor.cpp | 4 +
src/motor.hpp | 2 +
src/rpi-osc-stepper.cpp | 54 +-
src/utils/motor-cmd.cpp | 24 +
7 files changed, 5013 insertions(+), 37 deletions(-)
create mode 100755 control-patches/SMS_Control_Elaine.maxpat
diff --git a/control-patches/OSC-test.maxpat b/control-patches/OSC-test.maxpat
index c0fcea2..46f1c7c 100644
--- a/control-patches/OSC-test.maxpat
+++ b/control-patches/OSC-test.maxpat
@@ -10,7 +10,7 @@
}
,
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"openinpresentation" : 0,
"default_fontsize" : 12.0,
@@ -38,6 +38,272 @@
"style" : "",
"subpatcher_template" : "",
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"outlettype" : [ "" ],
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@@ -188,7 +441,21 @@
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diff --git a/control-patches/SMS_Control_Elaine.maxpat b/control-patches/SMS_Control_Elaine.maxpat
new file mode 100755
index 0000000..0e2cadf
--- /dev/null
+++ b/control-patches/SMS_Control_Elaine.maxpat
@@ -0,0 +1,4445 @@
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+ "source" : [ "obj-98", 0 ]
+ }
+
+ }
+, {
+ "patchline" : {
+ "destination" : [ "obj-168", 0 ],
+ "source" : [ "obj-99", 0 ]
+ }
+
+ }
+ ],
+ "parameters" : {
+ "obj-243" : [ "B4", "B4", 0 ],
+ "obj-192" : [ "tempo", "tempo", 0 ],
+ "obj-228" : [ "R", "R", 0 ],
+ "obj-246" : [ "B1", "B1", 0 ],
+ "obj-186" : [ "steuerrad", "steuerrad", 0 ],
+ "obj-233" : [ "Up", "Up", 0 ],
+ "obj-239" : [ "B3", "B3", 0 ],
+ "obj-235" : [ "Down", "Down", 0 ],
+ "obj-241" : [ "B2", "B2", 0 ],
+ "obj-237" : [ "L", "L", 0 ],
+ "parameterbanks" : {
+
+ }
+
+ }
+,
+ "dependency_cache" : [ {
+ "name" : "SMS_TargetSelect_sub.maxpat",
+ "bootpath" : "~/Documents/OSS/mobspkr-vehicle-ctrl/control-patches",
+ "patcherrelativepath" : ".",
+ "type" : "JSON",
+ "implicit" : 1
+ }
+, {
+ "name" : "SMS_Volt-Temp_sub.maxpat",
+ "bootpath" : "~/Documents/OSS/mobspkr-vehicle-ctrl/control-patches",
+ "patcherrelativepath" : ".",
+ "type" : "JSON",
+ "implicit" : 1
+ }
+, {
+ "name" : "max-net.js",
+ "bootpath" : "~/Documents/OSS/mobspkr-vehicle-ctrl/control-patches",
+ "patcherrelativepath" : ".",
+ "type" : "TEXT",
+ "implicit" : 1
+ }
+ ],
+ "autosave" : 0,
+ "bgcolor" : [ 200.0, 200.0, 200.0, 1.0 ]
+ }
+
+}
diff --git a/control-patches/SMS_TargetSelect_sub.maxpat b/control-patches/SMS_TargetSelect_sub.maxpat
index e9b892c..0a7fc55 100644
--- a/control-patches/SMS_TargetSelect_sub.maxpat
+++ b/control-patches/SMS_TargetSelect_sub.maxpat
@@ -4,7 +4,7 @@
"appversion" : {
"major" : 8,
"minor" : 1,
- "revision" : 11,
+ "revision" : 3,
"architecture" : "x64",
"modernui" : 1
}
@@ -37,7 +37,6 @@
"tags" : "",
"style" : "",
"subpatcher_template" : "",
- "assistshowspatchername" : 0,
"boxes" : [ {
"box" : {
"id" : "obj-26",
@@ -426,7 +425,7 @@
, {
"box" : {
"id" : "obj-4",
- "items" : [ "Angela", "(AGGREGAT)", ",", "Roger", "(Rotation)", ",", "Giacometti", "(?)" ],
+ "items" : [ "Angela", "(AGGREGAT)", ",", "Roger", "(Rotation)", ",", "Elaine", "(Elevation)" ],
"maxclass" : "umenu",
"numinlets" : 1,
"numoutlets" : 3,
diff --git a/src/motor.cpp b/src/motor.cpp
index 94ca2a3..7f97562 100644
--- a/src/motor.cpp
+++ b/src/motor.cpp
@@ -156,6 +156,10 @@ namespace MobSpkr {
return execute_with_value(MobSpkr::PD_1160::SetAxisParam_MaxCurrent, value, NULL, 1000);
}
+ Motor::Response::Status Motor::command_setAxisParam_StandbyCurrent(uint32_t value, unsigned int timeout_ms){
+ return execute_with_value(MobSpkr::PD_1160::SetAxisParam_StandbyCurrent, value, NULL, 1000);
+ }
+
Motor::Response::Status Motor::command_setAxisParam_PowerDownDelay(uint32_t value, unsigned int timeout_ms){
return execute_with_value(MobSpkr::PD_1160::SetAxisParam_PowerDownDelay, value, NULL, 1000) ;
}
diff --git a/src/motor.hpp b/src/motor.hpp
index 48a3a2f..e81cde6 100644
--- a/src/motor.hpp
+++ b/src/motor.hpp
@@ -253,6 +253,7 @@ class Motor {
Response::Status command_setAxisParam_ActualPosition(int32_t value, unsigned int timeout_ms);
Response::Status command_setAxisParam_MaxCurrent(uint32_t value, unsigned int timeout_ms);
+ Response::Status command_setAxisParam_StandbyCurrent(uint32_t value, unsigned int timeout_ms);
Response::Status command_setAxisParam_PowerDownDelay(uint32_t value, unsigned int timeout_ms);
Response::Status command_setAxisParam_Interpolation(uint32_t value, unsigned int timeout_ms);
Response::Status command_setAxisParam_PulseDivisor(uint32_t value, unsigned int timeout_ms);
@@ -298,6 +299,7 @@ class Motor {
const uint8_t SetAxisParam_PulseDivisor[] = {01, 05, 0x9a, 00, 00, 00, 00, 00, 00};
const uint8_t SetAxisParam_RampDivisor[] = {01, 05, 0x99, 00, 00, 00, 00, 00, 00};
const uint8_t SetAxisParam_MaxCurrent[] = {01, 05, 06, 00, 00, 00, 00, 00, 00};
+ const uint8_t SetAxisParam_StandbyCurrent[] = {01, 05, 07, 00, 00, 00, 00, 00, 00};
const uint8_t SetAxisParam_PowerDownDelay[] = {01, 05, 0xd6, 00, 00, 00, 00, 00, 00};
const uint8_t SetAxisParam_MaxAcceleration[] = {01, 05, 05, 00, 00, 00, 00, 00, 00};
diff --git a/src/rpi-osc-stepper.cpp b/src/rpi-osc-stepper.cpp
index 3832767..4f2eae4 100644
--- a/src/rpi-osc-stepper.cpp
+++ b/src/rpi-osc-stepper.cpp
@@ -211,6 +211,11 @@ protected:
int32_t pos_target = 0;
+ if (current_angle == desired_angled){
+ fprintf(stderr, "not moving, already at angle\n");
+ return;
+ }
+
// if rotating "right" position increments, thus we go for the next bigger possible position, otherwise the next smaller one
// treat not-rotating as right-rotation
if (current_movement[motor_index] >= 0){
@@ -236,9 +241,31 @@ protected:
fprintf(stderr, "moving to absolute pos %d\n", pos_target);
motors[motor_index].command_moveToPosition(pos_target, MobSpkr::Motor::MovementType_Absolute, 0, TIMEOUT_MS);
+
+ current_movement[motor_index] = 0;
}
+ if (std::strcmp( m.AddressPattern(), "/motor/move-to-position") == 0) {
+
+ osc::ReceivedMessage::const_iterator arg = m.ArgumentsBegin();
+ int motor_index = (arg++)->AsInt32();
+ int pos = (arg++)->AsInt32();
+ if (arg != m.ArgumentsEnd())
+ throw osc::ExcessArgumentException();
+ if (motor_index < 0 || motor_count <= motor_index) {
+ fprintf(stderr, "Invalid motor index: %d (0 - %d)\n", motor_index, motor_count - 1);
+ return;
+ }
+
+ if (pos < -2147483648 || 2147483647 < pos) {
+ fprintf(stderr, "Invalid position: %d [-2147483648, 2147483647]\n", pos);
+ return;
+ }
+
+ fprintf(stderr, "move to position: %d\n", pos);
+ motors[motor_index].command_moveToPosition(pos, MobSpkr::Motor::MovementType_Absolute, 0, TIMEOUT_MS);
+ }
if (std::strcmp( m.AddressPattern(), "/motor/rotate") == 0){
@@ -283,12 +310,37 @@ protected:
return;
}
- fprintf(stderr, "setting motor %d msr = %d\n", motor_index, msr);
+ fprintf(stderr, "setting motor %d msr = %d\n", motor_index, msr);
if (set_motor_msr(motor_index, msr))
fprintf(stderr, "failed\n");
}
+ if (std::strcmp(m.AddressPattern(), "/motor/standby-current") == 0){
+
+ osc::ReceivedMessage::const_iterator arg = m.ArgumentsBegin();
+ int motor_index = (arg++)->AsInt32();
+ int value = (arg++)->AsInt32();
+ if( arg != m.ArgumentsEnd() )
+ throw osc::ExcessArgumentException();
+
+ if (motor_index < 0 || motor_count <= motor_index){
+ fprintf(stderr, "Invalid motor index: %d (0 - %d)\n", motor_index, motor_count - 1);
+ return;
+ }
+ if (value < 0 || 255 < value){
+ fprintf(stderr, "Invalid standby current: %d [0, 255]\n", value);
+ return;
+ }
+
+ fprintf(stderr, "setting standby current (motor %d) := %d\n", motor_index, value);
+ if (motors[motor_index].command_setAxisParam_StandbyCurrent(value, TIMEOUT_MS))
+ fprintf(stderr, "failed\n");
+ }
+
+
+
+
if (std::strcmp(m.AddressPattern(), "/motor/temp") == 0) {
osc::ReceivedMessage::const_iterator arg = m.ArgumentsBegin();
diff --git a/src/utils/motor-cmd.cpp b/src/utils/motor-cmd.cpp
index 0c23f88..3a2d480 100644
--- a/src/utils/motor-cmd.cpp
+++ b/src/utils/motor-cmd.cpp
@@ -23,6 +23,7 @@ static void print_usage(FILE * out){
"\t --pos [<pos>]\t Get/Set actual position (motor must be stopped)\n"
"\t --move-to <pos>\t Move to absolute position\n"
"\t --move-by <pos>\t Move to relative position\n"
+ "\t --standby-current <cur>\t Set standby current\n"
"Examples:\n"
"%s -s/dev/cu.usbmodemTMCSTEP1 --msr --msr=7 --msr\n",
argv0, argv0);
@@ -61,6 +62,7 @@ int main(int argc, char * argv[]){
{"move-to", required_argument, 0, 7},
{"move-by", required_argument, 0, 8},
{"stop", no_argument, 0, 'q'},
+ {"standby-current", required_argument, 0, 9},
{0, 0, 0, 0 }
};
@@ -316,6 +318,28 @@ int main(int argc, char * argv[]){
break;
}
+ case 9: { // --standby-current
+
+ if (!motor.is_open()){
+ fprintf(stderr, "Command before was connected to motor!\n");
+ goto fail;
+ }
+
+ int32_t value = std::atoi(optarg);
+ if (value < 0 || 255 < value){
+ fprintf(stderr, "Invalid standby current (must be in [0, 255]): %d\n", value);
+ goto fail;
+ }
+ printf("Setting standby current %d ", value);
+ MobSpkr::Motor::Response::Status status = motor.command_setAxisParam_StandbyCurrent(value, timeout_ms);
+ if (status != MobSpkr::Motor::Response::Status::Success)
+ printf("FAILED\n");
+ else
+ printf("OK\n");
+
+ break;
+ }
+
default:
printf("?? getopt returned character code 0%o ??\n", c);
}
--
GitLab