bsk 2.8.22__tar.gz → 2.8.24__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.
Files changed (1253) hide show
  1. {bsk-2.8.22/bsk.egg-info → bsk-2.8.24}/PKG-INFO +1 -1
  2. {bsk-2.8.22 → bsk-2.8.24/bsk.egg-info}/PKG-INFO +1 -1
  3. {bsk-2.8.22 → bsk-2.8.24}/bsk.egg-info/SOURCES.txt +6 -0
  4. bsk-2.8.24/docs/source/bskVersion.txt +1 -0
  5. bsk-2.8.24/src/architecture/msgPayloadDefC/MotorStepCommandMsgPayload.h +28 -0
  6. bsk-2.8.24/src/architecture/msgPayloadDefC/StepperMotorMsgPayload.h +32 -0
  7. bsk-2.8.24/src/simulation/deviceInterface/stepperMotor/stepperMotor.cpp +248 -0
  8. bsk-2.8.24/src/simulation/deviceInterface/stepperMotor/stepperMotor.h +90 -0
  9. bsk-2.8.24/src/simulation/deviceInterface/stepperMotor/stepperMotor.i +45 -0
  10. bsk-2.8.24/src/simulation/deviceInterface/stepperMotor/stepperMotor.rst +167 -0
  11. {bsk-2.8.22 → bsk-2.8.24}/src/simulation/dynamics/constraintEffector/constraintDynamicEffector.rst +27 -2
  12. bsk-2.8.22/docs/source/bskVersion.txt +0 -1
  13. {bsk-2.8.22 → bsk-2.8.24}/.clang-format +0 -0
  14. {bsk-2.8.22 → bsk-2.8.24}/.gitattributes +0 -0
  15. {bsk-2.8.22 → bsk-2.8.24}/.gitignore +0 -0
  16. {bsk-2.8.22 → bsk-2.8.24}/.pre-commit-config.yaml +0 -0
  17. {bsk-2.8.22 → bsk-2.8.24}/CODE_OF_CONDUCT.md +0 -0
  18. {bsk-2.8.22 → bsk-2.8.24}/CONTRIBUTING.md +0 -0
  19. {bsk-2.8.22 → bsk-2.8.24}/LICENSE +0 -0
  20. {bsk-2.8.22 → bsk-2.8.24}/MANIFEST.in +0 -0
  21. {bsk-2.8.22 → bsk-2.8.24}/README.md +0 -0
  22. {bsk-2.8.22 → bsk-2.8.24}/bsk.egg-info/dependency_links.txt +0 -0
  23. {bsk-2.8.22 → bsk-2.8.24}/bsk.egg-info/entry_points.txt +0 -0
  24. {bsk-2.8.22 → bsk-2.8.24}/bsk.egg-info/not-zip-safe +0 -0
  25. {bsk-2.8.22 → bsk-2.8.24}/bsk.egg-info/requires.txt +0 -0
  26. {bsk-2.8.22 → bsk-2.8.24}/bsk.egg-info/top_level.txt +0 -0
  27. {bsk-2.8.22 → bsk-2.8.24}/conanfile.py +0 -0
  28. {bsk-2.8.22 → bsk-2.8.24}/externalTools/_doc.rst +0 -0
  29. {bsk-2.8.22 → bsk-2.8.24}/libs/.gitkeep +0 -0
  30. {bsk-2.8.22 → bsk-2.8.24}/libs/mujoco/conanfile.py +0 -0
  31. {bsk-2.8.22 → bsk-2.8.24}/libs/mujoco/test_package/CMakeLists.txt +0 -0
  32. {bsk-2.8.22 → bsk-2.8.24}/libs/mujoco/test_package/conanfile.py +0 -0
  33. {bsk-2.8.22 → bsk-2.8.24}/libs/mujoco/test_package/src/main.cpp +0 -0
  34. {bsk-2.8.22 → bsk-2.8.24}/libs/mujoco/version.txt +0 -0
  35. {bsk-2.8.22 → bsk-2.8.24}/pyproject.toml +0 -0
  36. {bsk-2.8.22 → bsk-2.8.24}/requirements.txt +0 -0
  37. {bsk-2.8.22 → bsk-2.8.24}/requirements_dev.txt +0 -0
  38. {bsk-2.8.22 → bsk-2.8.24}/requirements_doc.txt +0 -0
  39. {bsk-2.8.22 → bsk-2.8.24}/run_all_test.py +0 -0
  40. {bsk-2.8.22 → bsk-2.8.24}/setup.cfg +0 -0
  41. {bsk-2.8.22 → bsk-2.8.24}/setup.py +0 -0
  42. {bsk-2.8.22 → bsk-2.8.24}/src/CMakeLists.txt +0 -0
  43. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/py_sys_model.i +0 -0
  44. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/swig_c_wrap.i +0 -0
  45. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/swig_common_model.i +0 -0
  46. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/swig_conly_data.i +0 -0
  47. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/swig_deprecated.i +0 -0
  48. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/swig_eigen.i +0 -0
  49. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/swig_std_array.i +0 -0
  50. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/sys_model.cpp +0 -0
  51. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/sys_model.h +0 -0
  52. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/sys_model.i +0 -0
  53. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/sys_model.rst +0 -0
  54. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/sys_model_task.cpp +0 -0
  55. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/sys_model_task.h +0 -0
  56. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/_GeneralModuleFiles/sys_model_task.i +0 -0
  57. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/alg_contain/alg_contain.cpp +0 -0
  58. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/alg_contain/alg_contain.h +0 -0
  59. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/alg_contain/alg_contain.i +0 -0
  60. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/messaging/CMakeLists.txt +0 -0
  61. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/messaging/cMsgCInterface/CMakeLists.txt +0 -0
  62. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/messaging/cMsgCInterface/msg_C.cpp.in +0 -0
  63. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/messaging/cMsgCInterface/msg_C.h.in +0 -0
  64. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/messaging/cMsgCInterfacePy/__init__.py +0 -0
  65. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/messaging/messaging.h +0 -0
  66. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/messaging/msgAutoSource/cMsgCInterfacePy.i.in +0 -0
  67. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/messaging/msgAutoSource/generatePackageInit.py +0 -0
  68. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/messaging/msgAutoSource/generateSWIGModules.py +0 -0
  69. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/messaging/msgAutoSource/msgInterfacePy.i.in +0 -0
  70. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/messaging/msgHeader.h +0 -0
  71. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/messaging/newMessaging.ih +0 -0
  72. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/AccDataMsgPayload.h +0 -0
  73. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/AccPktDataMsgPayload.h +0 -0
  74. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/AccessMsgPayload.h +0 -0
  75. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/AlbedoMsgPayload.h +0 -0
  76. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/ArrayEffectorLockMsgPayload.h +0 -0
  77. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/ArrayMotorForceMsgPayload.h +0 -0
  78. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/ArrayMotorTorqueMsgPayload.h +0 -0
  79. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/ArrayMotorVoltageMsgPayload.h +0 -0
  80. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/AtmoPropsMsgPayload.h +0 -0
  81. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/AttGuidMsgPayload.h +0 -0
  82. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/AttRefMsgPayload.h +0 -0
  83. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/AttStateMsgPayload.h +0 -0
  84. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/BodyHeadingMsgPayload.h +0 -0
  85. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/BoreAngleMsgPayload.h +0 -0
  86. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/CMEstDataMsgPayload.h +0 -0
  87. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/CModuleTemplateMsgPayload.h +0 -0
  88. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/CSSArraySensorMsgPayload.h +0 -0
  89. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/CSSConfigMsgPayload.h +0 -0
  90. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/CSSRawDataMsgPayload.h +0 -0
  91. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/CSSUnitConfigMsgPayload.h +0 -0
  92. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/CameraConfigMsgPayload.h +0 -0
  93. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/CameraImageMsgPayload.h +0 -0
  94. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/ClassicElementsMsgPayload.h +0 -0
  95. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/CmdForceBodyMsgPayload.h +0 -0
  96. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/CmdForceInertialMsgPayload.h +0 -0
  97. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/CmdTorqueBodyMsgPayload.h +0 -0
  98. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/ColorMsgPayload.h +0 -0
  99. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/ConstDynEffectorMsgPayload.h +0 -0
  100. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/DataNodeUsageMsgPayload.h +0 -0
  101. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/DesiredVelocityMsgPayload.h +0 -0
  102. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/DeviceCmdMsgPayload.h +0 -0
  103. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/DeviceStatusMsgPayload.h +0 -0
  104. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/DipoleRequestBodyMsgPayload.h +0 -0
  105. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/DvBurnCmdMsgPayload.h +0 -0
  106. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/DvExecutionDataMsgPayload.h +0 -0
  107. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/EclipseMsgPayload.h +0 -0
  108. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/EphemerisMsgPayload.h +0 -0
  109. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/EpochMsgPayload.h +0 -0
  110. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/ForceAtSiteMsgPayload.h +0 -0
  111. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/FuelTankMsgPayload.h +0 -0
  112. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/GravityGradientMsgPayload.h +0 -0
  113. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/GroundStateMsgPayload.h +0 -0
  114. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/HeadingFilterMsgPayload.h +0 -0
  115. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/HillRelStateMsgPayload.h +0 -0
  116. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/HingedRigidBodyMsgPayload.h +0 -0
  117. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/IMUSensorBodyMsgPayload.h +0 -0
  118. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/IMUSensorMsgPayload.h +0 -0
  119. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/InertialFilterMsgPayload.h +0 -0
  120. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/InertialHeadingMsgPayload.h +0 -0
  121. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/LambertPerformanceMsgPayload.h +0 -0
  122. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/LambertProblemMsgPayload.h +0 -0
  123. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/LambertSolutionMsgPayload.h +0 -0
  124. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/LambertValidatorMsgPayload.h +0 -0
  125. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/LandmarkMsgPayload.h +0 -0
  126. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/LinearTranslationRigidBodyMsgPayload.h +0 -0
  127. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/MTBArrayConfigMsgPayload.h +0 -0
  128. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/MTBCmdMsgPayload.h +0 -0
  129. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/MTBMsgPayload.h +0 -0
  130. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/MagneticFieldMsgPayload.h +0 -0
  131. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/NavAttMsgPayload.h +0 -0
  132. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/NavTransMsgPayload.h +0 -0
  133. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/OpNavCirclesMsgPayload.h +0 -0
  134. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/OpNavFilterMsgPayload.h +0 -0
  135. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/OpNavLimbMsgPayload.h +0 -0
  136. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/OpNavMsgPayload.h +0 -0
  137. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/PixelLineFilterMsgPayload.h +0 -0
  138. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/PlasmaFluxMsgPayload.h +0 -0
  139. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/PowerNodeStatusMsgPayload.h +0 -0
  140. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/PowerNodeUsageMsgPayload.h +0 -0
  141. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/PowerStorageFaultMsgPayload.h +0 -0
  142. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/PowerStorageStatusMsgPayload.h +0 -0
  143. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/PrescribedMotionMsgPayload.h +0 -0
  144. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/PrescribedRotationMsgPayload.h +0 -0
  145. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/PrescribedTranslationMsgPayload.h +0 -0
  146. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/PyBatteryMsgPayload.h +0 -0
  147. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/RWArrayConfigMsgPayload.h +0 -0
  148. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/RWAvailabilityMsgPayload.h +0 -0
  149. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/RWCmdMsgPayload.h +0 -0
  150. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/RWConfigElementMsgPayload.h +0 -0
  151. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/RWConfigLogMsgPayload.h +0 -0
  152. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/RWConstellationMsgPayload.h +0 -0
  153. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/RWSpeedMsgPayload.h +0 -0
  154. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/RateCmdMsgPayload.h +0 -0
  155. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/RealTimeFactorMsgPayload.h +0 -0
  156. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/ReconfigBurnArrayInfoMsgPayload.h +0 -0
  157. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/ReconfigBurnInfoMsgPayload.h +0 -0
  158. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/SCEnergyMomentumMsgPayload.h +0 -0
  159. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/SCMassPropsMsgPayload.h +0 -0
  160. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/SCStatesMsgPayload.h +0 -0
  161. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/STAttMsgPayload.h +0 -0
  162. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/STSensorMsgPayload.h +0 -0
  163. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/ScalarJointStateMsgPayload.h +0 -0
  164. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/SingleActuatorMsgPayload.h +0 -0
  165. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/SmallBodyNavMsgPayload.h +0 -0
  166. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/SmallBodyNavUKFMsgPayload.h +0 -0
  167. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/SolarFluxMsgPayload.h +0 -0
  168. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/SpicePlanetStateMsgPayload.h +0 -0
  169. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/SpiceTimeMsgPayload.h +0 -0
  170. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/SunlineFilterMsgPayload.h +0 -0
  171. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/SwDataMsgPayload.h +0 -0
  172. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/SynchClockMsgPayload.h +0 -0
  173. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/TAMSensorBodyMsgPayload.h +0 -0
  174. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/TAMSensorMsgPayload.h +0 -0
  175. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/TDBVehicleClockCorrelationMsgPayload.h +0 -0
  176. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/THRArrayCmdForceMsgPayload.h +0 -0
  177. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/THRArrayConfigMsgPayload.h +0 -0
  178. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/THRArrayOnTimeCmdMsgPayload.h +0 -0
  179. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/THRConfigMsgPayload.h +0 -0
  180. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/TemperatureMsgPayload.h +0 -0
  181. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/TorqueAtSiteMsgPayload.h +0 -0
  182. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/TransRefMsgPayload.h +0 -0
  183. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/TypesTestMsgPayload.h +0 -0
  184. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/VSCMGArrayConfigMsgPayload.h +0 -0
  185. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/VSCMGArrayTorqueMsgPayload.h +0 -0
  186. {bsk-2.8.22 → bsk-2.8.24}/src/architecture/msgPayloadDefC/VSCMGCmdMsgPayload.h +0 -0
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  1190. {bsk-2.8.22 → bsk-2.8.24}/src/utilities/simulationProgessBar.py +0 -0
  1191. {bsk-2.8.22 → bsk-2.8.24}/src/utilities/tabulate.py +0 -0
  1192. {bsk-2.8.22 → bsk-2.8.24}/src/utilities/tests/__init__.py +0 -0
  1193. {bsk-2.8.22 → bsk-2.8.24}/src/utilities/tests/test_RigidBodyKinematics.py +0 -0
  1194. {bsk-2.8.22 → bsk-2.8.24}/src/utilities/tests/test_ck_utilities.py +0 -0
  1195. {bsk-2.8.22 → bsk-2.8.24}/src/utilities/tests/test_event_utilities.py +0 -0
  1196. {bsk-2.8.22 → bsk-2.8.24}/src/utilities/unitTestSupport.py +0 -0
  1197. {bsk-2.8.22 → bsk-2.8.24}/src/utilities/vizProtobuffer/CMakeLists.txt +0 -0
  1198. {bsk-2.8.22 → bsk-2.8.24}/src/utilities/vizProtobuffer/vizMessage.proto +0 -0
  1199. {bsk-2.8.22 → bsk-2.8.24}/src/utilities/vizSupport.py +0 -0
  1200. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/Earth_ALB_2018_CERES_All_10x10.csv +0 -0
  1201. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/Earth_ALB_2018_CERES_All_1x1.csv +0 -0
  1202. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/Earth_ALB_2018_CERES_All_5x5.csv +0 -0
  1203. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/Earth_ALB_2018_CERES_Clear_10x10.csv +0 -0
  1204. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/Earth_ALB_2018_CERES_Clear_1x1.csv +0 -0
  1205. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/Earth_ALB_2018_CERES_Clear_5x5.csv +0 -0
  1206. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/Mars_ALB_TES_10x10.csv +0 -0
  1207. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/Mars_ALB_TES_1x1.csv +0 -0
  1208. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/Mars_ALB_TES_5x5.csv +0 -0
  1209. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/earthReflectivityMean_10x10.dat +0 -0
  1210. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/earthReflectivityMean_1p25x1.dat +0 -0
  1211. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/earthReflectivityMean_5x5.dat +0 -0
  1212. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/earthReflectivityStd_10x10.dat +0 -0
  1213. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/earthReflectivityStd_1p25x1.dat +0 -0
  1214. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/earthReflectivityStd_5x5.dat +0 -0
  1215. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/marsReflectivityMean_10x10.dat +0 -0
  1216. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/marsReflectivityMean_1p25x1.dat +0 -0
  1217. {bsk-2.8.22 → bsk-2.8.24}/supportData/AlbedoData/marsReflectivityMean_5x5.dat +0 -0
  1218. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/EarthGRAMNominal.txt +0 -0
  1219. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/JupiterGRAMNominal.csv +0 -0
  1220. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/MarsGRAMNominal.txt +0 -0
  1221. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/NRLMSISE00Nominal.txt +0 -0
  1222. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/NeptuneGRAMNominal.csv +0 -0
  1223. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/TitanGRAMNominal.csv +0 -0
  1224. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/USStandardAtmosphere1976.csv +0 -0
  1225. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/UranusGRAMNominal.csv +0 -0
  1226. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/VenusGRAMNominal.csv +0 -0
  1227. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/support/EarthGRAM_bsk_namelist.txt +0 -0
  1228. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/support/JupiterGRAM_bsk_namelist.txt +0 -0
  1229. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/support/MarsGRAM_bsk_namelist.txt +0 -0
  1230. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/support/NeptuneGRAM_bsk_namelist.txt +0 -0
  1231. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/support/README.txt +0 -0
  1232. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/support/TitanGRAM_bsk_namelist.txt +0 -0
  1233. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/support/UranusGRAM_bsk_namelist.txt +0 -0
  1234. {bsk-2.8.22 → bsk-2.8.24}/supportData/AtmosphereData/support/VenusGRAM_bsk_namelist.txt +0 -0
  1235. {bsk-2.8.22 → bsk-2.8.24}/supportData/DentonGEO/model_e_array_all.txt +0 -0
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  1243. {bsk-2.8.22 → bsk-2.8.24}/supportData/EphemerisData/MVN_SCLKSCET.00000.tsc +0 -0
  1244. {bsk-2.8.22 → bsk-2.8.24}/supportData/EphemerisData/de-403-masses.tpc +0 -0
  1245. {bsk-2.8.22 → bsk-2.8.24}/supportData/EphemerisData/naif0011.tls +0 -0
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  1248. {bsk-2.8.22 → bsk-2.8.24}/supportData/LocalGravData/GGM03S-J2-only.txt +0 -0
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@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.4
2
2
  Name: bsk
3
- Version: 2.8.22
3
+ Version: 2.8.24
4
4
  Summary: Basilisk: an Astrodynamics Simulation Framework
5
5
  Home-page: https://avslab.github.io/basilisk/
6
6
  License:
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.4
2
2
  Name: bsk
3
- Version: 2.8.22
3
+ Version: 2.8.24
4
4
  Summary: Basilisk: an Astrodynamics Simulation Framework
5
5
  Home-page: https://avslab.github.io/basilisk/
6
6
  License:
@@ -121,6 +121,7 @@ src/architecture/msgPayloadDefC/MTBArrayConfigMsgPayload.h
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121
  src/architecture/msgPayloadDefC/MTBCmdMsgPayload.h
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122
  src/architecture/msgPayloadDefC/MTBMsgPayload.h
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123
  src/architecture/msgPayloadDefC/MagneticFieldMsgPayload.h
124
+ src/architecture/msgPayloadDefC/MotorStepCommandMsgPayload.h
124
125
  src/architecture/msgPayloadDefC/NavAttMsgPayload.h
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126
  src/architecture/msgPayloadDefC/NavTransMsgPayload.h
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  src/architecture/msgPayloadDefC/OpNavCirclesMsgPayload.h
@@ -160,6 +161,7 @@ src/architecture/msgPayloadDefC/SmallBodyNavUKFMsgPayload.h
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  src/architecture/msgPayloadDefC/SolarFluxMsgPayload.h
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162
  src/architecture/msgPayloadDefC/SpicePlanetStateMsgPayload.h
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163
  src/architecture/msgPayloadDefC/SpiceTimeMsgPayload.h
164
+ src/architecture/msgPayloadDefC/StepperMotorMsgPayload.h
163
165
  src/architecture/msgPayloadDefC/SunlineFilterMsgPayload.h
164
166
  src/architecture/msgPayloadDefC/SwDataMsgPayload.h
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167
  src/architecture/msgPayloadDefC/SynchClockMsgPayload.h
@@ -689,6 +691,10 @@ src/simulation/deviceInterface/prescribedRotation1DOF/prescribedRotation1DOF.cpp
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  src/simulation/deviceInterface/prescribedRotation1DOF/prescribedRotation1DOF.h
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  src/simulation/deviceInterface/prescribedRotation1DOF/prescribedRotation1DOF.i
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693
  src/simulation/deviceInterface/prescribedRotation1DOF/prescribedRotation1DOF.rst
694
+ src/simulation/deviceInterface/stepperMotor/stepperMotor.cpp
695
+ src/simulation/deviceInterface/stepperMotor/stepperMotor.h
696
+ src/simulation/deviceInterface/stepperMotor/stepperMotor.i
697
+ src/simulation/deviceInterface/stepperMotor/stepperMotor.rst
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698
  src/simulation/deviceInterface/tempMeasurement/tempMeasurement.cpp
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  src/simulation/deviceInterface/tempMeasurement/tempMeasurement.h
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  src/simulation/deviceInterface/tempMeasurement/tempMeasurement.i
@@ -0,0 +1 @@
1
+ 2.8.24
@@ -0,0 +1,28 @@
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
+ */
19
+
20
+ #ifndef motorStepCommandSimMsg_h
21
+ #define motorStepCommandSimMsg_h
22
+
23
+ /*! @brief Structure containing number of commanded stepper motor steps */
24
+ typedef struct {
25
+ int stepsCommanded; //!< Number of commanded stepper motor steps
26
+ }MotorStepCommandMsgPayload;
27
+
28
+ #endif /* motorStepCommandSimMsg_h */
@@ -0,0 +1,32 @@
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
+ */
19
+
20
+ #ifndef stepperMotorSimMsg_h
21
+ #define stepperMotorSimMsg_h
22
+
23
+ /*! @brief Structure containing stepper motor state information */
24
+ typedef struct {
25
+ double theta; //!< [rad] Current motor angle
26
+ double thetaDot; //!< [rad/s] Current motor angle rate
27
+ double thetaDDot; //!< [rad/s^2] Current motor angular acceleration
28
+ int stepsCommanded; //!< Current number of commanded motor steps
29
+ int stepCount; //!< Current motor step count (number of steps taken)
30
+ }StepperMotorMsgPayload;
31
+
32
+ #endif /* stepperMotorSimMsg_h */
@@ -0,0 +1,248 @@
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
+
19
+ #include "stepperMotor.h"
20
+ #include "architecture/utilities/macroDefinitions.h"
21
+ #include <cassert>
22
+ #include <cmath>
23
+
24
+ /*! Module reset method.
25
+ @param callTime [ns] Time the method is called
26
+ */
27
+ void StepperMotor::Reset(uint64_t callTime) {
28
+ assert(this->motorStepCommandInMsg.isLinked());
29
+
30
+ // Reset required module parameters
31
+ this->theta = this->thetaInit;
32
+ this->thetaDot = 0.0;
33
+ this->thetaDDot = 0.0;
34
+ this->tInit = 0.0;
35
+ this->stepCount = 0;
36
+ this->previousWrittenTime = -1;
37
+ this->actuationComplete = true;
38
+ this->stepComplete = true;
39
+ this->newMsg = false;
40
+ this->interruptMsg = false;
41
+
42
+ // Set motor maximum angular acceleration
43
+ this->thetaDDotMax = this->stepAngle / (0.25 * this->stepTime * this->stepTime); // [rad/s^2]
44
+ }
45
+
46
+ /*! Module update method. This method profiles the stepper motor actuation as a function of time. The motor states
47
+ are then written to the output message.
48
+ @param callTime [ns] Time the method is called
49
+ */
50
+ void StepperMotor::UpdateState(uint64_t callTime) {
51
+ MotorStepCommandMsgPayload motorStepCommandIn{};
52
+
53
+ // Read the input message
54
+ if (this->motorStepCommandInMsg.isWritten()) {
55
+ motorStepCommandIn = this->motorStepCommandInMsg();
56
+ // Store the number of commanded motor steps when a new message is written
57
+ if (this->previousWrittenTime < this->motorStepCommandInMsg.timeWritten()) {
58
+ this->stepsCommanded = motorStepCommandIn.stepsCommanded;
59
+ this->previousWrittenTime = this->motorStepCommandInMsg.timeWritten();
60
+
61
+ // Update booleans
62
+ this->newMsg = true;
63
+ if (this->actuationComplete) {
64
+ this->interruptMsg = false;
65
+ } else {
66
+ this->interruptMsg = true;
67
+ }
68
+ if (this->stepsCommanded == 0) {
69
+ this->actuationComplete = true;
70
+ this->stepCount = 0;
71
+ } else {
72
+ this->actuationComplete = false;
73
+ }
74
+ }
75
+ }
76
+
77
+ // Actuate the motor only if a current actuation segment is not complete
78
+ double t = callTime * NANO2SEC;
79
+ if (!(this->actuationComplete)) {
80
+ // Reset the motor immediately after a new non-interrupting request is received
81
+ if ((this->newMsg && !this->interruptMsg) || (this->interruptMsg && this->stepComplete)) {
82
+ this->resetMotor();
83
+ }
84
+ this->actuateMotor(t);
85
+ } else {
86
+ this->tInit = t;
87
+ this->thetaDDot = 0.0;
88
+ }
89
+
90
+ // Write the output message
91
+ StepperMotorMsgPayload stepperMotorOut{};
92
+ stepperMotorOut.theta = this->theta;
93
+ stepperMotorOut.thetaDot = this->thetaDot;
94
+ stepperMotorOut.thetaDDot = this->thetaDDot;
95
+ stepperMotorOut.stepsCommanded = this->stepsCommanded;
96
+ stepperMotorOut.stepCount = this->stepCount;
97
+ this->stepperMotorOutMsg.write(&stepperMotorOut, moduleID, callTime);
98
+ }
99
+
100
+ /*! This method is used to simulate the stepper motor actuation in time.
101
+ @param t [s] Time the method is called
102
+ */
103
+ void StepperMotor::actuateMotor(double t) {
104
+ // Update the motor step parameters when a step is completed
105
+ if (this->stepComplete) {
106
+ this->updateStepParameters();
107
+ }
108
+
109
+ // Update the motor states during each step
110
+ if (this->isInStepFirstHalf(t)) {
111
+ this->computeStepFirstHalf(t);
112
+ } else if (this->isInStepSecondHalf(t)) {
113
+ this->computeStepSecondHalf(t);
114
+ } else {
115
+ this->computeStepComplete(t);
116
+ }
117
+ }
118
+
119
+ /*! This method resets the motor states when the current request is complete and a new request is received.
120
+ */
121
+ void StepperMotor::resetMotor() {
122
+ this->stepCount = 0;
123
+ this->thetaInit = this->theta;
124
+ this->newMsg = false;
125
+ this->interruptMsg = false;
126
+ }
127
+
128
+ /*! This method updates the step parameters after a step is completed.
129
+ */
130
+ void StepperMotor::updateStepParameters() {
131
+ this->stepComplete = false;
132
+ this->tf = this->tInit + this->stepTime;
133
+ this->ts = this->tInit + this->stepTime / 2;
134
+ this->intermediateThetaInit = this->thetaInit + (this->stepCount * this->stepAngle);
135
+
136
+ if (this->stepsCommanded > 0) {
137
+ this->intermediateThetaRef = this->thetaInit + ((this->stepCount + 1) * this->stepAngle);
138
+ this->a = 0.5 * (this->stepAngle) / ((this->ts - this->tInit) * (this->ts - this->tInit));
139
+ this->b = -0.5 * (this->stepAngle) / ((this->ts - this->tf) * (this->ts - this->tf));
140
+ } else {
141
+ this->intermediateThetaRef = this->thetaInit + ((this->stepCount - 1) * this->stepAngle);
142
+ this->a = 0.5 * (-this->stepAngle) / ((this->ts - this->tInit) * (this->ts - this->tInit));
143
+ this->b = -0.5 * (-this->stepAngle) / ((this->ts - this->tf) * (this->ts - this->tf));
144
+ }
145
+ }
146
+
147
+ /*! This method determines if the motor is in the first half of a step.
148
+ @return bool
149
+ @param t [s] Time the method is called
150
+ */
151
+ bool StepperMotor::isInStepFirstHalf(double t) { return (t < this->ts && std::abs(this->ts - t) > 1e-5); }
152
+
153
+ /*! This method computes the motor states during the first half of each step.
154
+ @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
+ }
165
+
166
+ /*! This method determines if the motor is in the second half of a step.
167
+ @return bool
168
+ @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
+ */
245
+ void StepperMotor::setStepTime(const double stepTime) {
246
+ assert(stepTime > 0.0);
247
+ this->stepTime = std::abs(stepTime);
248
+ }
@@ -0,0 +1,90 @@
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
+
19
+ #ifndef _STEPPERMOTOR_
20
+ #define _STEPPERMOTOR_
21
+
22
+ #include "architecture/_GeneralModuleFiles/sys_model.h"
23
+ #include "architecture/messaging/messaging.h"
24
+ #include "architecture/msgPayloadDefC/MotorStepCommandMsgPayload.h"
25
+ #include "architecture/msgPayloadDefC/StepperMotorMsgPayload.h"
26
+ #include <stdint.h>
27
+
28
+ /*! @brief Stepper motor class. */
29
+ class StepperMotor : public SysModel {
30
+ public:
31
+ StepperMotor() = default; //!< Constructor
32
+ ~StepperMotor() = default; //!< Destructor
33
+
34
+ void Reset(uint64_t currentSimNanos) override;
35
+ void UpdateState(uint64_t currentSimNanos) override;
36
+ double getThetaInit() const;
37
+ double getStepAngle() const;
38
+ double getStepTime() const;
39
+ double getThetaDDotMax() const;
40
+ void setThetaInit(const double thetaInit);
41
+ void setStepAngle(const double stepAngle);
42
+ void setStepTime(const double stepTime);
43
+
44
+ ReadFunctor<MotorStepCommandMsgPayload>
45
+ motorStepCommandInMsg; //!< Input msg for the number of commanded motor step counts
46
+ Message<StepperMotorMsgPayload> stepperMotorOutMsg; //!< Output msg for the stepper motor state information
47
+
48
+ private:
49
+ void actuateMotor(double t);
50
+ void resetMotor();
51
+ void updateStepParameters();
52
+ bool isInStepFirstHalf(double t);
53
+ void computeStepFirstHalf(double t);
54
+ bool isInStepSecondHalf(double t);
55
+ void computeStepSecondHalf(double t);
56
+ void computeStepComplete(double t);
57
+
58
+ /* Step parameters */
59
+ double stepAngle{}; //!< [rad] Angle the stepper motor moves through for a single step (constant)
60
+ double stepTime{}; //!< [s] Time required for a single motor step (constant)
61
+ int stepsCommanded{}; //!< [steps] Number of commanded steps
62
+ int stepCount{}; //!< [steps] Current motor step count (number of steps taken)
63
+
64
+ /* Motor angle parameters */
65
+ double thetaInit{}; //!< [rad] Initial motor angle
66
+ 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
69
+ double thetaDot{}; //!< [rad/s] Current motor angle rate
70
+ double thetaDDot{}; //!< [rad/s^2] Current motor angular acceleration
71
+ double thetaDDotMax{}; //!< [rad/s^2] Maximum angular acceleration of the stepper motor
72
+
73
+ /* Temporal parameters */
74
+ double tInit{}; //!< [s] Simulation time at the beginning of each step
75
+ 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)
77
+ double tf{}; //!< [s] Simulation time when the current step will be completed
78
+
79
+ /* Boolean parameters */
80
+ 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
+
85
+ /* Constant parameters */
86
+ double a{}; //!< Parabolic constant for the first half of a step
87
+ double b{}; //!< Parabolic constant for the second half of a step
88
+ };
89
+
90
+ #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
+ */
19
+ %module stepperMotor
20
+
21
+ %include "architecture/utilities/bskException.swg"
22
+ %default_bsk_exception();
23
+
24
+ %{
25
+ #include "stepperMotor.h"
26
+ %}
27
+
28
+ %pythoncode %{
29
+ from Basilisk.architecture.swig_common_model import *
30
+ %}
31
+ %include "std_string.i"
32
+ %include "swig_conly_data.i"
33
+
34
+ %include "sys_model.i"
35
+ %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.