bsk 2.8.22__tar.gz → 2.8.23__tar.gz
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- {bsk-2.8.22/bsk.egg-info → bsk-2.8.23}/PKG-INFO +1 -1
- {bsk-2.8.22 → bsk-2.8.23/bsk.egg-info}/PKG-INFO +1 -1
- {bsk-2.8.22 → bsk-2.8.23}/bsk.egg-info/SOURCES.txt +6 -0
- bsk-2.8.23/docs/source/bskVersion.txt +1 -0
- bsk-2.8.23/src/architecture/msgPayloadDefC/MotorStepCommandMsgPayload.h +28 -0
- bsk-2.8.23/src/architecture/msgPayloadDefC/StepperMotorMsgPayload.h +32 -0
- bsk-2.8.23/src/simulation/deviceInterface/stepperMotor/stepperMotor.cpp +248 -0
- bsk-2.8.23/src/simulation/deviceInterface/stepperMotor/stepperMotor.h +90 -0
- bsk-2.8.23/src/simulation/deviceInterface/stepperMotor/stepperMotor.i +45 -0
- bsk-2.8.23/src/simulation/deviceInterface/stepperMotor/stepperMotor.rst +167 -0
- bsk-2.8.22/docs/source/bskVersion.txt +0 -1
- {bsk-2.8.22 → bsk-2.8.23}/.clang-format +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/.gitattributes +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/.gitignore +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/.pre-commit-config.yaml +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/CODE_OF_CONDUCT.md +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/CONTRIBUTING.md +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/LICENSE +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/MANIFEST.in +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/README.md +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/bsk.egg-info/dependency_links.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/bsk.egg-info/entry_points.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/bsk.egg-info/not-zip-safe +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/bsk.egg-info/requires.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/bsk.egg-info/top_level.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/conanfile.py +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/externalTools/_doc.rst +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/libs/.gitkeep +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/libs/mujoco/conanfile.py +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/libs/mujoco/test_package/CMakeLists.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/libs/mujoco/test_package/conanfile.py +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/libs/mujoco/test_package/src/main.cpp +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/libs/mujoco/version.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/pyproject.toml +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/requirements.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/requirements_dev.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/requirements_doc.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/run_all_test.py +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/setup.cfg +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/setup.py +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/CMakeLists.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/py_sys_model.i +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/swig_c_wrap.i +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/swig_common_model.i +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/swig_conly_data.i +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/swig_deprecated.i +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/swig_eigen.i +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/swig_std_array.i +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/sys_model.cpp +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/sys_model.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/sys_model.i +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/sys_model.rst +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/sys_model_task.cpp +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/sys_model_task.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/_GeneralModuleFiles/sys_model_task.i +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/alg_contain/alg_contain.cpp +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/alg_contain/alg_contain.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/alg_contain/alg_contain.i +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/messaging/CMakeLists.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/messaging/cMsgCInterface/CMakeLists.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/messaging/cMsgCInterface/msg_C.cpp.in +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/messaging/cMsgCInterface/msg_C.h.in +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/messaging/cMsgCInterfacePy/__init__.py +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/messaging/messaging.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/messaging/msgAutoSource/cMsgCInterfacePy.i.in +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/messaging/msgAutoSource/generatePackageInit.py +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/messaging/msgAutoSource/generateSWIGModules.py +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/messaging/msgAutoSource/msgInterfacePy.i.in +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/messaging/msgHeader.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/messaging/newMessaging.ih +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/AccDataMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/AccPktDataMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/AccessMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/AlbedoMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/ArrayEffectorLockMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/ArrayMotorForceMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/ArrayMotorTorqueMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/ArrayMotorVoltageMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/AtmoPropsMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/AttGuidMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/AttRefMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/AttStateMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/BodyHeadingMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/BoreAngleMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/CMEstDataMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/CModuleTemplateMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/CSSArraySensorMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/CSSConfigMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/CSSRawDataMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/CSSUnitConfigMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/CameraConfigMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/CameraImageMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/ClassicElementsMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/CmdForceBodyMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/CmdForceInertialMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/CmdTorqueBodyMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/ColorMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/ConstDynEffectorMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/DataNodeUsageMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/DesiredVelocityMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/DeviceCmdMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/DeviceStatusMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/DipoleRequestBodyMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/DvBurnCmdMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/DvExecutionDataMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/EclipseMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/EphemerisMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/EpochMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/ForceAtSiteMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/FuelTankMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/GravityGradientMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/GroundStateMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/HeadingFilterMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/HillRelStateMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/HingedRigidBodyMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/IMUSensorBodyMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/IMUSensorMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/InertialFilterMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/InertialHeadingMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/LambertPerformanceMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/LambertProblemMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/LambertSolutionMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/LambertValidatorMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/LandmarkMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/LinearTranslationRigidBodyMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/MTBArrayConfigMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/MTBCmdMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/MTBMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/MagneticFieldMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/NavAttMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/NavTransMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/OpNavCirclesMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/OpNavFilterMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/OpNavLimbMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/OpNavMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/PixelLineFilterMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/PlasmaFluxMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/PowerNodeStatusMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/PowerNodeUsageMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/PowerStorageFaultMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/PowerStorageStatusMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/PrescribedMotionMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/PrescribedRotationMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/PrescribedTranslationMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/PyBatteryMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/RWArrayConfigMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/RWAvailabilityMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/RWCmdMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/RWConfigElementMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/RWConfigLogMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/RWConstellationMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/RWSpeedMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/RateCmdMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/RealTimeFactorMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/ReconfigBurnArrayInfoMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/ReconfigBurnInfoMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/SCEnergyMomentumMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/SCMassPropsMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/SCStatesMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/STAttMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/STSensorMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/ScalarJointStateMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/SingleActuatorMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/SmallBodyNavMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/SmallBodyNavUKFMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/SolarFluxMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/SpicePlanetStateMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/SpiceTimeMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/SunlineFilterMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/SwDataMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/SynchClockMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/TAMSensorBodyMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/TAMSensorMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/TDBVehicleClockCorrelationMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/THRArrayCmdForceMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/THRArrayConfigMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/THRArrayOnTimeCmdMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/THRConfigMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/TemperatureMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/TorqueAtSiteMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/TransRefMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/TypesTestMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/VSCMGArrayConfigMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/VSCMGArrayTorqueMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/VSCMGCmdMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/VSCMGConfigElementMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/VSCMGRefStatesMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/VSCMGSpeedMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/VehicleConfigMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefC/VoltMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefCpp/CSSConfigLogMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefCpp/ChargeMsmMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefCpp/DataStorageStatusMsgPayload.h +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/src/architecture/msgPayloadDefCpp/MJSceneStateMsgPayload.h +0 -0
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- {bsk-2.8.22 → bsk-2.8.23}/supportData/LocalGravData/GGM03S.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/supportData/LocalGravData/GGM2BData.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/supportData/LocalGravData/VESTA20H.txt +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/supportData/LocalGravData/eros007790.tab +0 -0
- {bsk-2.8.22 → bsk-2.8.23}/supportData/MagneticField/WMM.COF +0 -0
@@ -121,6 +121,7 @@ src/architecture/msgPayloadDefC/MTBArrayConfigMsgPayload.h
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src/architecture/msgPayloadDefC/MagneticFieldMsgPayload.h
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src/architecture/msgPayloadDefC/MotorStepCommandMsgPayload.h
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src/architecture/msgPayloadDefC/NavAttMsgPayload.h
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src/architecture/msgPayloadDefC/NavTransMsgPayload.h
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src/architecture/msgPayloadDefC/OpNavCirclesMsgPayload.h
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src/architecture/msgPayloadDefC/SpicePlanetStateMsgPayload.h
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src/architecture/msgPayloadDefC/SpiceTimeMsgPayload.h
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src/architecture/msgPayloadDefC/StepperMotorMsgPayload.h
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src/architecture/msgPayloadDefC/SunlineFilterMsgPayload.h
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src/simulation/deviceInterface/prescribedRotation1DOF/prescribedRotation1DOF.rst
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src/simulation/deviceInterface/stepperMotor/stepperMotor.cpp
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src/simulation/deviceInterface/stepperMotor/stepperMotor.h
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src/simulation/deviceInterface/stepperMotor/stepperMotor.i
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src/simulation/deviceInterface/stepperMotor/stepperMotor.rst
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2.8.23
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/*
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ISC License
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Copyright (c) 2025, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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Permission to use, copy, modify, and/or distribute this software for any
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purpose with or without fee is hereby granted, provided that the above
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copyright notice and this permission notice appear in all copies.
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THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
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ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
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ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
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OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*/
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#ifndef motorStepCommandSimMsg_h
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#define motorStepCommandSimMsg_h
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/*! @brief Structure containing number of commanded stepper motor steps */
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typedef struct {
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int stepsCommanded; //!< Number of commanded stepper motor steps
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}MotorStepCommandMsgPayload;
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#endif /* motorStepCommandSimMsg_h */
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/*
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ISC License
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Copyright (c) 2025, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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Permission to use, copy, modify, and/or distribute this software for any
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purpose with or without fee is hereby granted, provided that the above
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copyright notice and this permission notice appear in all copies.
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THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
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ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
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ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
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OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*/
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#ifndef stepperMotorSimMsg_h
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#define stepperMotorSimMsg_h
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/*! @brief Structure containing stepper motor state information */
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typedef struct {
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double theta; //!< [rad] Current motor angle
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double thetaDot; //!< [rad/s] Current motor angle rate
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double thetaDDot; //!< [rad/s^2] Current motor angular acceleration
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int stepsCommanded; //!< Current number of commanded motor steps
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int stepCount; //!< Current motor step count (number of steps taken)
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}StepperMotorMsgPayload;
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#endif /* stepperMotorSimMsg_h */
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/*
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ISC License
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Copyright (c) 2025, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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Permission to use, copy, modify, and/or distribute this software for any
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purpose with or without fee is hereby granted, provided that the above
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copyright notice and this permission notice appear in all copies.
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THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
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ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
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ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
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OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*/
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#include "stepperMotor.h"
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#include "architecture/utilities/macroDefinitions.h"
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#include <cassert>
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#include <cmath>
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/*! Module reset method.
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@param callTime [ns] Time the method is called
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*/
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void StepperMotor::Reset(uint64_t callTime) {
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assert(this->motorStepCommandInMsg.isLinked());
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// Reset required module parameters
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this->theta = this->thetaInit;
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this->thetaDot = 0.0;
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this->thetaDDot = 0.0;
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this->tInit = 0.0;
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this->stepCount = 0;
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this->previousWrittenTime = -1;
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this->actuationComplete = true;
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this->stepComplete = true;
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this->newMsg = false;
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this->interruptMsg = false;
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// Set motor maximum angular acceleration
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this->thetaDDotMax = this->stepAngle / (0.25 * this->stepTime * this->stepTime); // [rad/s^2]
|
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}
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/*! Module update method. This method profiles the stepper motor actuation as a function of time. The motor states
|
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are then written to the output message.
|
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@param callTime [ns] Time the method is called
|
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*/
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void StepperMotor::UpdateState(uint64_t callTime) {
|
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MotorStepCommandMsgPayload motorStepCommandIn{};
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// Read the input message
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if (this->motorStepCommandInMsg.isWritten()) {
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motorStepCommandIn = this->motorStepCommandInMsg();
|
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// Store the number of commanded motor steps when a new message is written
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if (this->previousWrittenTime < this->motorStepCommandInMsg.timeWritten()) {
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this->stepsCommanded = motorStepCommandIn.stepsCommanded;
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this->previousWrittenTime = this->motorStepCommandInMsg.timeWritten();
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// Update booleans
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this->newMsg = true;
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if (this->actuationComplete) {
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this->interruptMsg = false;
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} else {
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this->interruptMsg = true;
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}
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if (this->stepsCommanded == 0) {
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this->actuationComplete = true;
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this->stepCount = 0;
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} else {
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this->actuationComplete = false;
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}
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}
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}
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// Actuate the motor only if a current actuation segment is not complete
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double t = callTime * NANO2SEC;
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if (!(this->actuationComplete)) {
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// Reset the motor immediately after a new non-interrupting request is received
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if ((this->newMsg && !this->interruptMsg) || (this->interruptMsg && this->stepComplete)) {
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this->resetMotor();
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}
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this->actuateMotor(t);
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} else {
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this->tInit = t;
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this->thetaDDot = 0.0;
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}
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// Write the output message
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StepperMotorMsgPayload stepperMotorOut{};
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stepperMotorOut.theta = this->theta;
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stepperMotorOut.thetaDot = this->thetaDot;
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stepperMotorOut.thetaDDot = this->thetaDDot;
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stepperMotorOut.stepsCommanded = this->stepsCommanded;
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stepperMotorOut.stepCount = this->stepCount;
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this->stepperMotorOutMsg.write(&stepperMotorOut, moduleID, callTime);
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}
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/*! This method is used to simulate the stepper motor actuation in time.
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@param t [s] Time the method is called
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*/
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void StepperMotor::actuateMotor(double t) {
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// Update the motor step parameters when a step is completed
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if (this->stepComplete) {
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this->updateStepParameters();
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}
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// Update the motor states during each step
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if (this->isInStepFirstHalf(t)) {
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this->computeStepFirstHalf(t);
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} else if (this->isInStepSecondHalf(t)) {
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this->computeStepSecondHalf(t);
|
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} else {
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this->computeStepComplete(t);
|
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}
|
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}
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/*! This method resets the motor states when the current request is complete and a new request is received.
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*/
|
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void StepperMotor::resetMotor() {
|
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this->stepCount = 0;
|
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this->thetaInit = this->theta;
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this->newMsg = false;
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this->interruptMsg = false;
|
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}
|
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/*! This method updates the step parameters after a step is completed.
|
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*/
|
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void StepperMotor::updateStepParameters() {
|
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this->stepComplete = false;
|
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this->tf = this->tInit + this->stepTime;
|
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this->ts = this->tInit + this->stepTime / 2;
|
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this->intermediateThetaInit = this->thetaInit + (this->stepCount * this->stepAngle);
|
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+
|
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|
+
if (this->stepsCommanded > 0) {
|
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+
this->intermediateThetaRef = this->thetaInit + ((this->stepCount + 1) * this->stepAngle);
|
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+
this->a = 0.5 * (this->stepAngle) / ((this->ts - this->tInit) * (this->ts - this->tInit));
|
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+
this->b = -0.5 * (this->stepAngle) / ((this->ts - this->tf) * (this->ts - this->tf));
|
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+
} else {
|
141
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+
this->intermediateThetaRef = this->thetaInit + ((this->stepCount - 1) * this->stepAngle);
|
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|
+
this->a = 0.5 * (-this->stepAngle) / ((this->ts - this->tInit) * (this->ts - this->tInit));
|
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+
this->b = -0.5 * (-this->stepAngle) / ((this->ts - this->tf) * (this->ts - this->tf));
|
144
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+
}
|
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+
}
|
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+
|
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/*! This method determines if the motor is in the first half of a step.
|
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@return bool
|
149
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+
@param t [s] Time the method is called
|
150
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+
*/
|
151
|
+
bool StepperMotor::isInStepFirstHalf(double t) { return (t < this->ts && std::abs(this->ts - t) > 1e-5); }
|
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+
|
153
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+
/*! This method computes the motor states during the first half of each step.
|
154
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+
@param t [s] Time the method is called
|
155
|
+
*/
|
156
|
+
void StepperMotor::computeStepFirstHalf(double t) {
|
157
|
+
if (this->intermediateThetaRef > this->intermediateThetaInit) {
|
158
|
+
this->thetaDDot = this->thetaDDotMax;
|
159
|
+
} else {
|
160
|
+
this->thetaDDot = -this->thetaDDotMax;
|
161
|
+
}
|
162
|
+
this->thetaDot = this->thetaDDot * (t - this->tInit);
|
163
|
+
this->theta = this->a * (t - this->tInit) * (t - this->tInit) + this->intermediateThetaInit;
|
164
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+
}
|
165
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+
|
166
|
+
/*! This method determines if the motor is in the second half of a step.
|
167
|
+
@return bool
|
168
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+
@param t [s] Time the method is called
|
169
|
+
*/
|
170
|
+
bool StepperMotor::isInStepSecondHalf(double t) {
|
171
|
+
return ((t >= this->ts || std::abs(this->ts - t) < 1e-5) && std::abs(this->tf - t) > 1e-5);
|
172
|
+
}
|
173
|
+
|
174
|
+
/*! This method computes the motor states during the second half of each step.
|
175
|
+
@param t [s] Time the method is called
|
176
|
+
*/
|
177
|
+
void StepperMotor::computeStepSecondHalf(double t) {
|
178
|
+
if (this->intermediateThetaRef > this->intermediateThetaInit) {
|
179
|
+
this->thetaDDot = -this->thetaDDotMax;
|
180
|
+
} else {
|
181
|
+
this->thetaDDot = this->thetaDDotMax;
|
182
|
+
}
|
183
|
+
this->thetaDot = this->thetaDDot * (t - this->tInit) - this->thetaDDot * (this->tf - this->tInit);
|
184
|
+
this->theta = this->b * (t - this->tf) * (t - this->tf) + this->intermediateThetaRef;
|
185
|
+
}
|
186
|
+
|
187
|
+
/*! This method computes the motor states when a step is complete.
|
188
|
+
@param t [s] Time the method is called
|
189
|
+
*/
|
190
|
+
void StepperMotor::computeStepComplete(double t) {
|
191
|
+
this->stepComplete = true;
|
192
|
+
this->thetaDot = 0.0;
|
193
|
+
this->theta = this->intermediateThetaRef;
|
194
|
+
this->tInit = t;
|
195
|
+
|
196
|
+
// Update the motor step count
|
197
|
+
if (this->intermediateThetaRef > this->intermediateThetaInit) {
|
198
|
+
this->stepCount++;
|
199
|
+
} else {
|
200
|
+
this->stepCount--;
|
201
|
+
}
|
202
|
+
|
203
|
+
// Update the actuationComplete boolean variable only when motor actuation is complete
|
204
|
+
if ((this->stepCount == this->stepsCommanded) && !this->interruptMsg) {
|
205
|
+
this->actuationComplete = true;
|
206
|
+
}
|
207
|
+
}
|
208
|
+
|
209
|
+
/*! Getter method for the initial motor angle called `thetaInit`.
|
210
|
+
@return double
|
211
|
+
*/
|
212
|
+
double StepperMotor::getThetaInit() const { return this->thetaInit; }
|
213
|
+
|
214
|
+
/*! Getter method for the motor step angle called `stepAngle`.
|
215
|
+
@return double
|
216
|
+
*/
|
217
|
+
double StepperMotor::getStepAngle() const { return this->stepAngle; }
|
218
|
+
|
219
|
+
/*! Getter method for the motor step time called `stepTime`.
|
220
|
+
@return double
|
221
|
+
*/
|
222
|
+
double StepperMotor::getStepTime() const { return this->stepTime; }
|
223
|
+
|
224
|
+
/*! Getter method for the maximum motor angular acceleration called `thetaDDotMax`.
|
225
|
+
@return double
|
226
|
+
*/
|
227
|
+
double StepperMotor::getThetaDDotMax() const { return this->thetaDDotMax; }
|
228
|
+
|
229
|
+
/*! Setter method for the initial motor angle.
|
230
|
+
@param thetaInit [rad] Initial motor angle
|
231
|
+
*/
|
232
|
+
void StepperMotor::setThetaInit(const double thetaInit) { this->thetaInit = thetaInit; }
|
233
|
+
|
234
|
+
/*! Setter method for the motor step angle.
|
235
|
+
@param stepAngle [rad] Motor step angle
|
236
|
+
*/
|
237
|
+
void StepperMotor::setStepAngle(const double stepAngle) {
|
238
|
+
assert(stepAngle > 0.0);
|
239
|
+
this->stepAngle = std::abs(stepAngle);
|
240
|
+
}
|
241
|
+
|
242
|
+
/*! Setter method for the motor step time.
|
243
|
+
@param stepTime [s] Motor step time
|
244
|
+
*/
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void StepperMotor::setStepTime(const double stepTime) {
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assert(stepTime > 0.0);
|
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this->stepTime = std::abs(stepTime);
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}
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/*
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ISC License
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Copyright (c) 2025, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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Permission to use, copy, modify, and/or distribute this software for any
|
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purpose with or without fee is hereby granted, provided that the above
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copyright notice and this permission notice appear in all copies.
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+
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THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
|
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MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
|
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ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
|
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WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
|
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ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
|
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OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*/
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#ifndef _STEPPERMOTOR_
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#define _STEPPERMOTOR_
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#include "architecture/_GeneralModuleFiles/sys_model.h"
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#include "architecture/messaging/messaging.h"
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#include "architecture/msgPayloadDefC/MotorStepCommandMsgPayload.h"
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#include "architecture/msgPayloadDefC/StepperMotorMsgPayload.h"
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#include <stdint.h>
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/*! @brief Stepper motor class. */
|
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class StepperMotor : public SysModel {
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public:
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StepperMotor() = default; //!< Constructor
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~StepperMotor() = default; //!< Destructor
|
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+
|
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void Reset(uint64_t currentSimNanos) override;
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void UpdateState(uint64_t currentSimNanos) override;
|
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double getThetaInit() const;
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double getStepAngle() const;
|
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double getStepTime() const;
|
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double getThetaDDotMax() const;
|
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+
void setThetaInit(const double thetaInit);
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+
void setStepAngle(const double stepAngle);
|
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+
void setStepTime(const double stepTime);
|
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+
|
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ReadFunctor<MotorStepCommandMsgPayload>
|
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+
motorStepCommandInMsg; //!< Input msg for the number of commanded motor step counts
|
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+
Message<StepperMotorMsgPayload> stepperMotorOutMsg; //!< Output msg for the stepper motor state information
|
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+
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private:
|
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void actuateMotor(double t);
|
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void resetMotor();
|
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void updateStepParameters();
|
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bool isInStepFirstHalf(double t);
|
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void computeStepFirstHalf(double t);
|
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bool isInStepSecondHalf(double t);
|
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void computeStepSecondHalf(double t);
|
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void computeStepComplete(double t);
|
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+
|
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/* Step parameters */
|
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double stepAngle{}; //!< [rad] Angle the stepper motor moves through for a single step (constant)
|
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double stepTime{}; //!< [s] Time required for a single motor step (constant)
|
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int stepsCommanded{}; //!< [steps] Number of commanded steps
|
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int stepCount{}; //!< [steps] Current motor step count (number of steps taken)
|
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+
|
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|
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/* Motor angle parameters */
|
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double thetaInit{}; //!< [rad] Initial motor angle
|
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|
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double intermediateThetaInit{}; //!< [rad] Initial motor angle at the start of each step
|
67
|
+
double intermediateThetaRef{}; //!< [rad] Reference motor angle at the end of each step
|
68
|
+
double theta{}; //!< [rad] Current motor angle
|
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|
+
double thetaDot{}; //!< [rad/s] Current motor angle rate
|
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|
+
double thetaDDot{}; //!< [rad/s^2] Current motor angular acceleration
|
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|
+
double thetaDDotMax{}; //!< [rad/s^2] Maximum angular acceleration of the stepper motor
|
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|
+
|
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|
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/* Temporal parameters */
|
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|
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double tInit{}; //!< [s] Simulation time at the beginning of each step
|
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|
+
double previousWrittenTime{-1}; //!< [ns] Time the last input message was written
|
76
|
+
double ts{}; //!< [s] The simulation time halfway through each step (switch time for ang accel)
|
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|
+
double tf{}; //!< [s] Simulation time when the current step will be completed
|
78
|
+
|
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|
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/* Boolean parameters */
|
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|
+
bool actuationComplete{true}; //!< Boolean designating the motor has fully completed the commanded actuation
|
81
|
+
bool stepComplete{true}; //!< Boolean designating the completion of a step
|
82
|
+
bool newMsg{}; //!< Boolean designating a new command message is written
|
83
|
+
bool interruptMsg{}; //!< Boolean designating the new command message is interrupting motor actuation
|
84
|
+
|
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|
+
/* Constant parameters */
|
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|
+
double a{}; //!< Parabolic constant for the first half of a step
|
87
|
+
double b{}; //!< Parabolic constant for the second half of a step
|
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|
+
};
|
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+
|
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|
+
#endif
|
@@ -0,0 +1,45 @@
|
|
1
|
+
/*
|
2
|
+
ISC License
|
3
|
+
|
4
|
+
Copyright (c) 2025, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
|
5
|
+
|
6
|
+
Permission to use, copy, modify, and/or distribute this software for any
|
7
|
+
purpose with or without fee is hereby granted, provided that the above
|
8
|
+
copyright notice and this permission notice appear in all copies.
|
9
|
+
|
10
|
+
THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
|
11
|
+
WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
|
12
|
+
MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
|
13
|
+
ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
|
14
|
+
WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
|
15
|
+
ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
|
16
|
+
OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
|
17
|
+
|
18
|
+
*/
|
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|
+
%module stepperMotor
|
20
|
+
|
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|
+
%include "architecture/utilities/bskException.swg"
|
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|
+
%default_bsk_exception();
|
23
|
+
|
24
|
+
%{
|
25
|
+
#include "stepperMotor.h"
|
26
|
+
%}
|
27
|
+
|
28
|
+
%pythoncode %{
|
29
|
+
from Basilisk.architecture.swig_common_model import *
|
30
|
+
%}
|
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|
+
%include "std_string.i"
|
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|
+
%include "swig_conly_data.i"
|
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|
+
|
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|
+
%include "sys_model.i"
|
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|
+
%include "stepperMotor.h"
|
36
|
+
|
37
|
+
%include "architecture/msgPayloadDefC/MotorStepCommandMsgPayload.h"
|
38
|
+
struct MotorStepCommandMsg_C;
|
39
|
+
%include "architecture/msgPayloadDefC/StepperMotorMsgPayload.h"
|
40
|
+
struct StepperMotorMsg_C;
|
41
|
+
|
42
|
+
%pythoncode %{
|
43
|
+
import sys
|
44
|
+
protectAllClasses(sys.modules[__name__])
|
45
|
+
%}
|
@@ -0,0 +1,167 @@
|
|
1
|
+
Executive Summary
|
2
|
+
-----------------
|
3
|
+
The stepper motor module simulates the actuation of a stepper motor. Given the initial motor angle :math:`\theta_0`, a
|
4
|
+
fixed motor step angle :math:`\Delta\theta`, a fixed motor step time :math:`\Delta t`, and an input message containing
|
5
|
+
an integer number of steps commanded, the motor states are computed at each time step and output from the module.
|
6
|
+
The motor states include the scalar motor angle :math:`\theta`, scalar angle rate :math:`\dot{\theta}`, scalar angular
|
7
|
+
acceleration :math:`\ddot{\theta}`, the current motor step count :math:`c_s`, and the number of steps commanded to the
|
8
|
+
motor :math:`n_s`. The motor actuation through each step of the command sequence is profiled using a bang-bang
|
9
|
+
acceleration profile. This module also includes logic for handling incoming reference commands that interrupt an
|
10
|
+
unfinished motor actuation sequence. Because the stepper motor is unable to stop actuating during a step, it must
|
11
|
+
finish actuating through the current step before it can begin following a new reference command.
|
12
|
+
|
13
|
+
Message Connection Description
|
14
|
+
------------------------------
|
15
|
+
The following table lists the module input and output messages.
|
16
|
+
|
17
|
+
.. list-table:: Module I/O Messages
|
18
|
+
:widths: 25 25 50
|
19
|
+
:header-rows: 1
|
20
|
+
|
21
|
+
* - Msg Variable Name
|
22
|
+
- Msg Type
|
23
|
+
- Description
|
24
|
+
* - motorStepCommandInMsg
|
25
|
+
- :ref:`MotorStepCommandMsgPayload`
|
26
|
+
- Input message containing the number of commanded motor steps
|
27
|
+
* - stepperMotorOutMsg
|
28
|
+
- :ref:`StepperMotorMsgPayload`
|
29
|
+
- Output message containing the stepper motor states
|
30
|
+
|
31
|
+
Motor Step Actuation Profile
|
32
|
+
----------------------------
|
33
|
+
The motor states are profiled identically for each step in the command sequence. Specifically, a bang-bang acceleration
|
34
|
+
profile is used to profile the motor states as a function of time. Given the motor step time :math:`\Delta t` and motor
|
35
|
+
step angle :math:`\Delta \theta` as fixed parameters, the module calculates the required acceleration
|
36
|
+
:math:`\ddot{\theta}_{\text{max}}` that must be applied during each motor step.
|
37
|
+
|
38
|
+
.. math::
|
39
|
+
| \ddot{\theta}_{\text{max}} | = \frac{4 \Delta \theta}{\Delta t^2}
|
40
|
+
|
41
|
+
Note that the motor can take either positive or negative steps. For a forward actuation command (:math:`n_s > 0`), the
|
42
|
+
calculated acceleration is applied positively for the first half of the step and negatively during the second half of
|
43
|
+
the step. For a backward actuation command (:math:`n_s < 0`), the acceleration is applied negatively during the first
|
44
|
+
half of the step and positively during the second half of the step.
|
45
|
+
|
46
|
+
Given the initial time :math:`t_0`, the switch time :math:`t_s` where the acceleration is alternated and the final time
|
47
|
+
:math:`t_f` when the step is complete is determined as
|
48
|
+
|
49
|
+
.. math::
|
50
|
+
t_s = t_0 + \frac{\Delta t}{2}
|
51
|
+
|
52
|
+
t_f = t_0 + \Delta t
|
53
|
+
|
54
|
+
The other motor states can be kinematically profiled as a function of time by integrating the applied acceleration
|
55
|
+
profile. The equations used to profile each motor step are
|
56
|
+
|
57
|
+
.. math::
|
58
|
+
\ddot{\theta}(t) =
|
59
|
+
\begin{cases}
|
60
|
+
\pm \ddot{\theta}_{\text{max}}
|
61
|
+
& \text{if }
|
62
|
+
t_0 \leq t < t_s
|
63
|
+
\\
|
64
|
+
\mp \ddot{\theta}_{\text{max}}
|
65
|
+
& \text{if }
|
66
|
+
t_s \leq t \leq t_f
|
67
|
+
\\
|
68
|
+
0
|
69
|
+
& \text{if }
|
70
|
+
t > t_f
|
71
|
+
\end{cases}
|
72
|
+
|
73
|
+
\dot{\theta}(t) =
|
74
|
+
\begin{cases}
|
75
|
+
\pm \ddot{\theta}_{\text{max}} (t - t_0)
|
76
|
+
& \text{if }
|
77
|
+
t_0 \leq t < t_s
|
78
|
+
\\
|
79
|
+
\mp \ddot{\theta}_{\text{max}} (t - t_f)
|
80
|
+
& \text{if }
|
81
|
+
t_s \leq t \leq t_f
|
82
|
+
\\
|
83
|
+
0
|
84
|
+
& \text{if }
|
85
|
+
t > t_f
|
86
|
+
\end{cases}
|
87
|
+
|
88
|
+
\theta(t) =
|
89
|
+
\begin{cases}
|
90
|
+
\frac{\pm \Delta \theta (t - t_0)^2}{2 (t_s - t_0)^2} + \theta_0
|
91
|
+
& \text{if }
|
92
|
+
t_0 \leq t < t_s
|
93
|
+
\\
|
94
|
+
\frac{\mp \Delta \theta (t - t_f)^2}{2 (t_s - t_f)^2} + \theta_{\text{ref}}
|
95
|
+
& \text{if }
|
96
|
+
t_s \leq t \leq t_f
|
97
|
+
\\
|
98
|
+
\theta_{\text{ref}}
|
99
|
+
& \text{if }
|
100
|
+
t > t_f
|
101
|
+
\end{cases}
|
102
|
+
|
103
|
+
Note that the parameters :math:`t_0, t_s` and :math:`t_f` must be continually updated after each step is complete to
|
104
|
+
reflect the advancement of time. Doing so enables use of the above equations for each motor step.
|
105
|
+
|
106
|
+
.. important::
|
107
|
+
If the motor actuation is interrupted by a new reference message while actuating through a step,
|
108
|
+
the motor must finish actuating through the current step before it can begin following a new reference command.
|
109
|
+
If the interrupting message is written when the motor is not in the midst of a step, the module resets the motor
|
110
|
+
step count and immediately begins actuating to follow the new reference command.
|
111
|
+
|
112
|
+
Module Functions
|
113
|
+
----------------
|
114
|
+
Below is a list of functions that this simulation module performs
|
115
|
+
|
116
|
+
- Reads the incoming motor step command message
|
117
|
+
- Computes the motor states as a function of time
|
118
|
+
- Writes the motor states to the module output message
|
119
|
+
- Handles interruptions to motor actuation by resetting the motor actuation after the current step is complete
|
120
|
+
|
121
|
+
Module Assumptions and Limitations
|
122
|
+
----------------------------------
|
123
|
+
- The motor step angle and step time are fixed parameters (Cannot be negative)
|
124
|
+
- The motor cannot stop actuating in the middle of a step
|
125
|
+
- When the motor actuation is interrupted by a new reference command, the motor must complete its actuation through the current step before following the new command
|
126
|
+
- The module update rate must be faster than or equal to the provided motor step time :math:`\Delta t`
|
127
|
+
- The module update rate cannot be slower than the motor step rate, or the motor actuation cannot be resolved
|
128
|
+
|
129
|
+
Test Description and Success Criteria
|
130
|
+
-------------------------------------
|
131
|
+
There are two tests for this module. The two tests are described in :ref:`test_stepperMotor`.
|
132
|
+
The first test is a nominal test named ``test_stepper_motor_nominal``. The second test named
|
133
|
+
``test_stepper_motor_interrupt`` tests the module logic for commands interrupting the motor actuation. Both tests
|
134
|
+
configure two actuation commands. The nominal test separates the actuation commands by a rest period of 5 seconds. The
|
135
|
+
interruption test interrupts the first command sequence after half of the commanded motor steps are completed. The
|
136
|
+
time the second command message is written is determined using an interruption factor to specify what fraction of the
|
137
|
+
next step is completed before the second command message is written. Both tests add 5 seconds to the end of each
|
138
|
+
simulation for clarity when viewing the generated plots.
|
139
|
+
|
140
|
+
The success criteria for all tests is that the motor states converge to the computed reference values in the test at
|
141
|
+
the end of each actuation sequence. Specifically, the motor angle, rate, acceleration, and step count are checked to
|
142
|
+
converge to the reference values at the end of each simulation chunk. The motor rate and acceleration are checked to
|
143
|
+
be zero at the end of each actuation sequence. Note that the motor acceleration is checked at one time step after the
|
144
|
+
other motor states are checked because the motor acceleration is nonzero at the completion of each motor step. The motor
|
145
|
+
acceleration is not zero until after the motor step is complete. This differs from the motor rate profile, which
|
146
|
+
is zero at the completion of each motor step.
|
147
|
+
|
148
|
+
Nominal Test
|
149
|
+
~~~~~~~~~~~~
|
150
|
+
The nominal unit test configures two actuation command segments with a rest period of 5 seconds between the commands.
|
151
|
+
A rest period of 5 seconds is also added to the end of the simulation for clarity when viewing the generated plots.
|
152
|
+
The initial motor angle, motor step angle, step time, and steps commanded for each actuation sequence are varied so
|
153
|
+
that the motor actuates both forwards and backwards during the test. Zero steps commanded are also included in the
|
154
|
+
test to check that the module correctly updates the motor states for a zero command message. The motor angle, rate,
|
155
|
+
acceleration, and step count are checked to converge to the reference values at the end of each simulation chunk.
|
156
|
+
|
157
|
+
Interruption Test
|
158
|
+
~~~~~~~~~~~~~~~~~
|
159
|
+
The interruption unit test ensures that the module correctly handles reference messages that interrupt an unfinished
|
160
|
+
motor actuation sequence. The initial motor angle, motor step angle, and step time are not varied in the interruption
|
161
|
+
test because these parameters were already varied in the nominal test. The interruption test interrupts the first
|
162
|
+
command sequence after half of the commanded motor steps are completed. The time the second command message is
|
163
|
+
written is determined using an interruption factor to specify what fraction of the next step is completed before the
|
164
|
+
second command message is written. Interruption factors of 0 and 1 are also included to ensure the module correctly
|
165
|
+
resets the motor states when the interruption falls precisely when a step is completed. A rest period of 5 seconds is
|
166
|
+
added to the end of the simulation for clarity when viewing the generated plots. The motor angle, rate,
|
167
|
+
acceleration, and step count are checked to converge to the reference values at the end of each simulation chunk.
|
@@ -1 +0,0 @@
|
|
1
|
-
2.8.22
|
File without changes
|
File without changes
|
File without changes
|
File without changes
|