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Motor and encoder cal state machines broken by switch to non-persistent updates, fixed.

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This commit is contained in:
PAJohnson
2020-09-28 02:55:39 -04:00
parent dd99d5e2e3
commit fa48d7050f
1 changed files with 69 additions and 40 deletions
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GUI/src/views/Wizard.vue
+69 -40
View File
@@ -7,8 +7,12 @@
v-for="page in wizardPages"
:key="page.title"
class="wizard-link"
:class="{'active-link': currentStep == page, 'finished-page': page.choiceMade}"
>{{page.link}}</span>
:class="{
'active-link': currentStep == page,
'finished-page': page.choiceMade,
}"
>{{ page.link }}</span
>
</div>
<div class="wizard-page">
<wizardPage
@@ -29,15 +33,17 @@
<button class="wizard-button card" @click="finish">Finish</button>
<button
class="wizard-button card"
:class="{'next-green': choiceMade}"
:class="{ 'next-green': choiceMade }"
v-tooltip.right="{
content: currentStep.nextTooltip,
class: 'tooltip-custom tooltip-other-custom fade-in',
delay: 0,
visible: !choiceMade&&currentStep.nextTooltip!=null,
visible: !choiceMade && currentStep.nextTooltip != null,
}"
@click="next"
>Next</button>
>
Next
</button>
</div>
</div>
</div>
@@ -49,9 +55,7 @@ import configTemplate from "../assets/wizard/configTemplate.json";
import wizardPage from "../components/wizard/wizardPage.vue";
import odriveEnums from "../assets/odriveEnums.json";
import { pages } from "../assets/wizard/wizard.js";
import { getVal, putVal } from "../lib/odrive_utils.js"
// see wizard.js for what wizard pages exist and what they contain
import { getVal, putVal, fetchParam } from "../lib/odrive_utils.js";
export default {
name: "Wizard",
@@ -80,16 +84,16 @@ export default {
this.choiceMade = false;
if (e.data == "motor calibration") {
// set a timeout to grab axis resistance and inductance values
fetchParam("odrive0." + e.axis + ".error");
let apply = () => {
if (
this.$store.state.odrives.odrive0.axis0.error.val == "0" &&
this.$store.state.odrives.odrive0.axis1.error.val == "0"
) {
if (getVal("odrive0." + e.axis + ".error") == 0) {
let configStub = undefined;
let path_inductance = "odrive0." + e.axis + ".motor.config.phase_inductance";
let path_resistance = "odrive0." + e.axis + ".motor.config.phase_resistance";
let inductance = parseFloat(getVal(path_inductance));
let resistance = parseFloat(getVal(path_resistance));
let inductance = getVal(
"odrive0." + e.axis + ".motor.config.phase_inductance"
);
let resistance = getVal(
"odrive0." + e.axis + ".motor.config.phase_resistance"
);
if (e.axis == "axis0") {
configStub = {
axis0: {
@@ -135,26 +139,30 @@ export default {
};
let updateCalInfo = () => {
// parse error code, update calibration information
let motorError = parseInt(this.$store.state.odrives.odrive0[e.axis].motor.error.val);
if (motorError == odriveEnums.MOTOR_ERROR_PHASE_RESISTANCE_OUT_OF_RANGE ||
motorError == odriveEnums.MOTOR_ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE) {
//we got the expected calibration error
console.log("Calibration failed.");
this.calStatus = false;
}
let motorError = getVal("odrive0." + e.axis + ".motor.error");
if (
motorError ==
odriveEnums.MOTOR_ERROR_PHASE_RESISTANCE_OUT_OF_RANGE ||
motorError == odriveEnums.MOTOR_ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE
) {
//we got the expected calibration error
console.log("Calibration failed.");
this.calStatus = false;
}
};
this.wait = function () {
fetchParam("odrive0." + e.axis + ".current_state");
fetchParam("odrive0." + e.axis + ".motor.config.phase_resistance");
fetchParam("odrive0." + e.axis + ".motor.config.phase_inductance");
console.log();
if (
parseInt(
this.$store.state.odrives.odrive0[e.axis].current_state.val
) == odriveEnums.AXIS_STATE_MOTOR_CALIBRATION
getVal("odrive0." + e.axis + ".current_state") ==
odriveEnums.AXIS_STATE_MOTOR_CALIBRATION
) {
// still calibrating
setTimeout(() => this.wait(), 100);
this.calibrating = true;
} else if (
this.$store.state.odrives.odrive0[e.axis].error.val != "0"
) {
} else if (getVal("odrive0." + e.axis + ".error") != 0) {
console.log("motor cal error");
this.calibrating = false;
this.choiceMade = false;
@@ -168,6 +176,9 @@ export default {
this.calStatus = true;
}
};
fetchParam("odrive0." + e.axis + ".current_state");
fetchParam("odrive0." + e.axis + ".motor.config.phase_resistance");
fetchParam("odrive0." + e.axis + ".motor.config.phase_inductance");
// wait for at least a second for comms to update state of ODrive
setTimeout(() => this.wait(), 1000);
} else if (e.data == "encoder calibration") {
@@ -176,9 +187,7 @@ export default {
// start calibration
// wait for cal to finish
// set odrive cpr back to oldVal
let oldCPR = parseInt(
this.$store.state.odrives.odrive0[e.axis].encoder.config.cpr.val
);
let oldCPR = getVal("odrive0." + e.axis + ".encoder.config.cpr");
console.log("oldCPR = " + oldCPR);
console.log("axis = " + e.axis);
putVal(
@@ -191,17 +200,15 @@ export default {
);
this.wait = function () {
fetchParam("odrive0." + e.axis + ".current_state");
if (
parseInt(
this.$store.state.odrives.odrive0[e.axis].current_state.val
) == odriveEnums.AXIS_STATE_ENCODER_OFFSET_CALIBRATION
getVal("odrive0." + e.axis + ".current_state") ==
odriveEnums.AXIS_STATE_ENCODER_OFFSET_CALIBRATION
) {
setTimeout(() => this.wait(), 100);
console.log("waiting for encoder cal to finish...");
this.calibrating = true;
} else if (
this.$store.state.odrives.odrive0[e.axis].error.val != "0"
) {
} else if (getVal("odrive0." + e.axis + ".error") != 0) {
putVal("odrive0." + e.axis + ".encoder.config.cpr", oldCPR);
console.log("applying old CPR, error detected");
this.calibrating = false;
@@ -210,10 +217,12 @@ export default {
putVal("odrive0." + e.axis + ".encoder.config.cpr", oldCPR);
console.log("applying old CPR");
this.choiceMade = true;
this.currentStep.choiceMade = true;
this.calibrating = false;
this.calStatus = true;
}
};
fetchParam("odrive0." + e.axis + ".current_state");
setTimeout(() => this.wait(), 1000);
}
},
@@ -230,7 +239,11 @@ export default {
// for motors, wait for calibration to finish before giving the green light unless motor.is_calibrated == true
// for encoders, wait for calibration to finish unless encoder.is_ready == true
this.choiceMade = true;
if (e.choice == "ODrive D5065" || e.choice == "ODrive D6374" || e.choice == "Other motor") {
if (
e.choice == "ODrive D5065" ||
e.choice == "ODrive D6374" ||
e.choice == "Other motor"
) {
let axis;
if (this.currentStep == pages.Motor_0) axis = "axis0";
if (this.currentStep == pages.Motor_1) axis = "axis1";
@@ -238,7 +251,12 @@ export default {
this.choiceMade = false;
}
}
if (e.choice == "CUI AMT102V" || e.choice == "Hall Effect" || e.choice == "Incremental" || e.choice == "IncrementalIndex") {
if (
e.choice == "CUI AMT102V" ||
e.choice == "Hall Effect" ||
e.choice == "Incremental" ||
e.choice == "IncrementalIndex"
) {
let axis;
if (this.currentStep == pages.Encoder_0) axis = "axis0";
if (this.currentStep == pages.Encoder_1) axis = "axis1";
@@ -303,6 +321,17 @@ export default {
for (const page of Object.keys(pages)) {
pages[page].choiceMade = false;
}
let erase = (obj) => {
Object.keys(obj).forEach((key) => {
if (typeof obj[key] == 'object' && obj[key] != null) {
erase(obj[key]);
}
else {
obj[key] = null;
}
});
}
erase(this.wizardConfig);
},
};
</script>