🎉 Initial dump of content

CMakeLists.txt

@@ -19,9 +19,24 @@ libhal_test_and_make_library(
   LIBRARY_NAME libhal-actuator
 
   SOURCES
-  src/actuator.cpp
+  src/rc_servo.cpp
+  src/smart_servo/rmd/drc_adaptors.cpp
+  src/smart_servo/rmd/drc.cpp
+  src/smart_servo/rmd/mc_x_adaptors.cpp
+  src/smart_servo/rmd/mc_x.cpp
 
   TEST_SOURCES
-  tests/actuator.test.cpp
   tests/main.test.cpp
+  tests/rc_servo.test.cpp
+  tests/smart_servo/rmd/drc.test.cpp
+  tests/smart_servo/rmd/mc_x.test.cpp
+  tests/smart_servo/rmd/drc_adaptors.test.cpp
+
+  PACKAGES
+  libhal-canrouter
+  libhal-mock
+
+  LINK_LIBRARIES
+  libhal::canrouter
+  libhal::mock
 )

conanfile.py

@@ -34,6 +34,7 @@ def requirements(self):
         # consumers get the libhal and libhal-util headers downstream.
         bootstrap = self.python_requires["libhal-bootstrap"]
         bootstrap.module.add_library_requirements(self)
+        self.requires("libhal-canrouter/[^3.0.0]")
 
     def package_info(self):
         self.cpp_info.libs = ["libhal-actuator"]

demos/CMakeLists.txt

@@ -18,7 +18,12 @@ project(demos LANGUAGES CXX)
 
 libhal_build_demos(
   DEMOS
-  actuator
+  drc
+  mc_x
+  rc_servo
+
+  INCLUDES
+  .
 
   PACKAGES
   libhal-actuator

demos/applications/drc.cpp

@@ -0,0 +1,111 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <libhal-actuator/smart_servo/rmd/drc.hpp>
+#include <libhal-util/can.hpp>
+#include <libhal-util/serial.hpp>
+#include <libhal-util/steady_clock.hpp>
+
+#include <resource_list.hpp>
+
+void application(resource_list& p_map)
+{
+  using namespace std::chrono_literals;
+  using namespace hal::literals;
+
+  auto& clock = *p_map.clock.value();
+  auto& console = *p_map.console.value();
+  auto& can = *p_map.can.value();
+
+  hal::print(console, "RMD DRC Smart Servo Application Starting...\n\n");
+
+  hal::can_router router(can);
+  hal::actuator::rmd_drc drc(router, clock, 6.0f, 0x141);
+
+  auto print_feedback = [&drc, &console]() {
+    drc.feedback_request(hal::actuator::rmd_drc::read::status_2);
+    drc.feedback_request(hal::actuator::rmd_drc::read::multi_turns_angle);
+    drc.feedback_request(
+      hal::actuator::rmd_drc::read::status_1_and_error_flags);
+
+    hal::print<2048>(console,
+                     "[%u] =================================\n"
+                     "raw_multi_turn_angle = %f\n"
+                     "raw_current = %d\n"
+                     "raw_speed = %d\n"
+                     "raw_volts = %d\n"
+                     "encoder = %d\n"
+                     "raw_motor_temperature = %d"
+                     "\n"
+                     "over_voltage_protection_tripped = %d\n"
+                     "over_temperature_protection_tripped = %d\n"
+                     "-------\n"
+                     "angle() = %f °deg\n"
+                     "current() = %f A\n"
+                     "speed() = %f rpm\n"
+                     "volts() = %f V\n"
+                     "temperature() = %f °C\n\n",
+
+                     drc.feedback().message_number,
+                     static_cast<float>(drc.feedback().raw_multi_turn_angle),
+                     drc.feedback().raw_current,
+                     drc.feedback().raw_speed,
+                     drc.feedback().raw_volts,
+                     drc.feedback().encoder,
+                     drc.feedback().raw_motor_temperature,
+                     drc.feedback().over_voltage_protection_tripped(),
+                     drc.feedback().over_temperature_protection_tripped(),
+                     drc.feedback().angle(),
+                     drc.feedback().current(),
+                     drc.feedback().speed(),
+                     drc.feedback().volts(),
+                     drc.feedback().temperature());
+  };
+
+  hal::delay(clock, 500ms);
+
+  while (true) {
+    drc.velocity_control(10.0_rpm);
+    hal::delay(clock, 5000ms);
+    print_feedback();
+
+    drc.velocity_control(-10.0_rpm);
+    hal::delay(clock, 5000ms);
+    print_feedback();
+
+    drc.position_control(0.0_deg, 50.0_rpm);
+    hal::delay(clock, 5000ms);
+    print_feedback();
+
+    drc.position_control(-45.0_deg, 50.0_rpm);
+    hal::delay(clock, 5000ms);
+    print_feedback();
+
+    drc.position_control(90.0_deg, 50.0_rpm);
+    hal::delay(clock, 5000ms);
+    print_feedback();
+
+    drc.position_control(180.0_deg, 50.0_rpm);
+    hal::delay(clock, 5000ms);
+    print_feedback();
+
+    drc.position_control(-360.0_deg, 50.0_rpm);
+    hal::delay(clock, 5000ms);
+    print_feedback();
+
+    drc.position_control(0.0_deg, 50.0_rpm);
+    hal::delay(clock, 5000ms);
+    print_feedback();
+  }
+}

demos/applications/mc_x.cpp

@@ -0,0 +1,143 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <libhal-actuator/smart_servo/rmd/mc_x.hpp>
+#include <libhal-util/can.hpp>
+#include <libhal-util/serial.hpp>
+#include <libhal-util/steady_clock.hpp>
+
+#include <resource_list.hpp>
+
+void application(resource_list& p_map)
+{
+  using namespace std::chrono_literals;
+  using namespace hal::literals;
+
+  auto& clock = *p_map.clock.value();
+  auto& console = *p_map.console.value();
+  auto& can = *p_map.can.value();
+
+  hal::print(console, "RMD MC-X Smart Servo Application Starting...\n\n");
+
+  hal::can_router router(can);
+  hal::actuator::rmd_mc_x mc_x(router, clock, 36.0f, 0x141);
+
+  auto print_feedback = [&mc_x, &console]() {
+    mc_x.feedback_request(hal::actuator::rmd_mc_x::read::status_2);
+    mc_x.feedback_request(hal::actuator::rmd_mc_x::read::multi_turns_angle);
+    mc_x.feedback_request(
+      hal::actuator::rmd_mc_x::read::status_1_and_error_flags);
+
+    hal::print<2048>(console,
+                     "[%u] =================================\n"
+                     "raw_multi_turn_angle = %f\n"
+                     "raw_current = %d\n"
+                     "raw_speed = %d\n"
+                     "raw_volts = %d\n"
+                     "encoder = %d\n"
+                     "raw_motor_temperature = %d"
+                     "\n"
+                     "-------\n"
+                     "angle() = %f °deg\n"
+                     "current() = %f A\n"
+                     "speed() = %f rpm\n"
+                     "volts() = %f V\n"
+                     "temperature() = %f °C\n"
+                     "motor_stall() = %d\n"
+                     "low_pressure() = %d\n"
+                     "over_voltage() = %d\n"
+                     "over_current() = %d\n"
+                     "power_overrun() = %d\n"
+                     "speeding() = %d\n"
+                     "over_temperature() = %d\n"
+                     "encoder_calibration_error() = %d\n"
+                     "\n",
+
+                     mc_x.feedback().message_number,
+                     static_cast<float>(mc_x.feedback().raw_multi_turn_angle),
+                     mc_x.feedback().raw_current,
+                     mc_x.feedback().raw_speed,
+                     mc_x.feedback().raw_volts,
+                     mc_x.feedback().encoder,
+                     mc_x.feedback().raw_motor_temperature,
+                     mc_x.feedback().angle(),
+                     mc_x.feedback().current(),
+                     mc_x.feedback().speed(),
+                     mc_x.feedback().volts(),
+                     mc_x.feedback().temperature(),
+                     mc_x.feedback().motor_stall(),
+                     mc_x.feedback().low_pressure(),
+                     mc_x.feedback().over_voltage(),
+                     mc_x.feedback().over_current(),
+                     mc_x.feedback().power_overrun(),
+                     mc_x.feedback().speeding(),
+                     mc_x.feedback().over_temperature(),
+                     mc_x.feedback().encoder_calibration_error());
+  };
+
+  while (true) {
+    mc_x.velocity_control(50.0_rpm);
+    hal::delay(clock, 5000ms);
+    print_feedback();
+
+    mc_x.velocity_control(0.0_rpm);
+    hal::delay(clock, 2000ms);
+    print_feedback();
+
+    mc_x.velocity_control(-50.0_rpm);
+    hal::delay(clock, 5000ms);
+    print_feedback();
+
+    mc_x.velocity_control(0.0_rpm);
+    hal::delay(clock, 2000ms);
+    print_feedback();
+
+    // Position control above 40 RPM seems to cause issues with position control
+    mc_x.position_control(0.0_deg, 30.0_rpm);
+    hal::delay(clock, 1s);
+    print_feedback();
+
+    mc_x.position_control(90.0_deg, 30.0_rpm);
+    hal::delay(clock, 2s);
+    print_feedback();
+
+    mc_x.position_control(180.0_deg, 30.0_rpm);
+    hal::delay(clock, 2s);
+    print_feedback();
+
+    mc_x.position_control(90.0_deg, 30.0_rpm);
+    hal::delay(clock, 2s);
+    print_feedback();
+
+    mc_x.position_control(0.0_deg, 30.0_rpm);
+    hal::delay(clock, 2s);
+    print_feedback();
+
+    mc_x.position_control(-45.0_deg, 30.0_rpm);
+    hal::delay(clock, 2s);
+    print_feedback();
+
+    mc_x.position_control(-90.0_deg, 30.0_rpm);
+    hal::delay(clock, 2s);
+    print_feedback();
+
+    mc_x.position_control(-45.0_deg, 30.0_rpm);
+    hal::delay(clock, 2s);
+    print_feedback();
+
+    mc_x.position_control(0.0_deg, 30.0_rpm);
+    hal::delay(clock, 2s);
+    print_feedback();
+  }
+}

demos/applications/rc_servo.cpp

@@ -0,0 +1,73 @@
+// Copyright 2024 Khalil Estell
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <libhal-actuator/rc_servo.hpp>
+#include <libhal-util/serial.hpp>
+#include <libhal-util/steady_clock.hpp>
+
+#include <resource_list.hpp>
+
+void application(resource_list& p_map)
+{
+  using namespace std::chrono_literals;
+  using namespace hal::literals;
+
+  auto& clock = *p_map.clock.value();
+  auto& console = *p_map.console.value();
+  auto& pwm = *p_map.pwm.value();
+
+  hal::print(console, "RC Servo Application Starting...\n\n");
+
+  hal::actuator::rc_servo::settings rc_servo_settings{
+    .frequency = 50,
+    // Total 180 deg, change for your use case.
+    .min_angle = -90,
+    .max_angle = 90,
+    // Change to 500us and 2500us if your rc servo
+    // supports those pulse widths.
+    .min_microseconds = 1000,
+    .max_microseconds = 2000,
+  };
+  hal::actuator::rc_servo servo(pwm, rc_servo_settings);
+
+  hal::print(console, "In 5 seconds...\n");
+  hal::delay(clock, 2000ms);
+
+  // Oscillate from the servo horn back and forth
+  while (true) {
+    hal::print(console, "0 deg\n");
+    servo.position(0.0_deg);
+    hal::delay(clock, 5000ms);
+
+    hal::print(console, "45 deg\n");
+    servo.position(45.0_deg);
+    hal::delay(clock, 5000ms);
+
+    hal::print(console, "90 deg\n");
+    servo.position(90.0_deg);
+    hal::delay(clock, 5000ms);
+
+    hal::print(console, "45 deg\n");
+    servo.position(45.0_deg);
+    hal::delay(clock, 5000ms);
+
+    hal::print(console, "0 deg\n");
+    servo.position(0.0_deg);
+    hal::delay(clock, 5000ms);
+
+    hal::print(console, "-45 deg\n");
+    servo.position(-45.0_deg);
+    hal::delay(clock, 5000ms);
+  }
+}