Implement new MotorAxis module

zauberzeug / lizard

Domain-specific language to specify behaviour of microcontroller managed hardware

MIT License

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Implement new MotorAxis module #15

Closed falkoschindler closed 1 year ago

falkoschindler commented 1 year ago

The main goal of this module is to quickly respond to switches and protect the hardware from damage - even if, for example, no RoSys is running, a different serial interface is being used, or a developer sends "manual" commands via the Lizard console.

Tasks:

[x] control a StepperMotor via position/speed/stop commands
[x] use Input switches to stop the motor if a switch becomes active
[x] prevent the motor from moving in the wrong direction if switch is already active

falkoschindler commented 1 year ago

Test configuration on RB28 (motor on socket 2, sensors on socket 4):

rdyp = Output(15)
en3 = Output(12)
en3.on()
rdyp.on()

m = StepperMotor(5, 4)

serial = Serial(26, 27, 115200, 1)
p0 = Expander(serial, 25, 14)

in1 = p0.Input(32)
in2 = p0.Input(33)

a = MotorAxis(m, in1, in2)