Principal requirements for rotation platform from 220803 design document

[ederancz]

XXXX from 220803 design document.

For all the latency and resolution information, it would be useful to get a ballpark hardware limitation. That may already be better than needed.

Optical sensors measure movement induced on the treadmill to report mouse directional/rotational movement. Mouse movement should be tracked with a spatial resolution of XXXX and latency of XXXX.

Spatial resolution of mouse movement measurement. I naively assume the same as platform positioning (0.1 degrees). Robustness is an important question here (variable ball distance from sensor, ball surface).

Latency of mouse movement measurement. To be discussed in relationship with motor control. Several optical movement measurement points will need to be integrated and smoothed to create a smooth rotation movement.

The rotary platform is actuated by a (stepper) motor using a timing belt. The platform can be rotated with a latency of XXXX and resolution of XXXX.

Platform positioning accuracy is currently 0.1 degrees (this is the measured minimum incremental motion), I don't think we need better than this. It depends on the motor and the timing belt/mechanics a lot.

Platform positioning latency. I think the most important consideration here is to make it variable. This would allow us to match it with the screen update latency for the VR.

The weight range on board the rotary platform is XXXX- XXXX and requires a motor with specs.

The current version is 2+ kg with a manual manipulator on it for silicone probe placement. Weight distribution is important, but an effort should be made to keep things as light as possible (to minimise inertia).

In closed-loop mode, the rotation of the treadmill is fed back to the motor to control rotation. The round trip latency of motion-to-motor feedback is < XXXX.

See platform positioning latency.

[RoboDoig]

Thanks @ederancz - I've added the design document to the main repo and will update info there from now on

[ederancz]

Great, thanks @RoboDoig . One additional signal I don't think we discussed is GPIO for the camera (especially trigger). As this is also going to be controlled by Bonsai, is this something we can add to the HARP (slave) device?

[RoboDoig]

@ederancz I'm updating the repo now with a few changes including the camera triggers. From discussion with Filipe today, we should be able to add those triggers on the onboard HARP device.

[RoboDoig]

Closing issue as HARP boards from the platform finalised.