H1 --> H2 Motor control signal

[RoboDoig]

Now that the motor control is implemented in Bonsai, we should add the option to implement the motion control algorithm via direct communication from H1 --> H2.

This basic algorithm is as follows: 1) Register to select signal source (flow sensor 1/2 X/Y) 2) Register to set gain on signal source 3) Sent via tx/rx to H2 4) H2 convert to immediate pulses and drive motor 5) Register/option to disable direct control

[RoboDoig]

@filcarv here are some example flow sensor values from the rig as requested.

flow_sensor.csv

[RoboDoig]

Expanding on the algorithm in more detail here:

Required registers (can be renamed):

• SIGNAL_SELECT (4 options for flow sensor 1 x/y, flow sensor 2 x/y)
• SIGNAL_GAIN (multiplier for input signal, should be float to able to express decimal values, e.g. if we want to reduce motor speed)
• ENABLE_DIRECT_CONTROL (boolean specifying whether direct control algorithm is utilised vs. controlling from Bonsai)
• ZERO_THRESHOLD (float specifying deadband for conversion from speed delta to motor immediate pulses, currently 0.000001)
• MAX_PULSE_INTERVAL (float specifying maximum pulse interval value, currently 0.02)
• MIN_PULSE_INTERVAL (float specifying minimum pulse interval value, currently 0.000025)

Algorithm (if ENABLE_DIRECT_CONTROL): On H1:

• Read value from flow sensor channel defined by SIGNAL_SELECT
• Multiple the sensor value by SIGNAL_GAIN
• Send the resulting value to H2 via tx/rx On H2:
• Convert received value to immediate pulses:

  if (abs(value) < ZERO_THRESHOLD):
  return 0.0
  else:
  var pulseInterval = 1.0/value;
  var clamp = max(min(pulseInterval, MAX_PULSE_INTERVAL), -MAX_PULSE_INTERVAL));
  if (abs(clamp) < MIN_PULSE_INTERVAL):
  clamp = MIN_PULSE_INTERVAL;
  return clamp * 1000000;

• Apply return value to motor immediate pulses