Bug fixes and Example Updates (#5)

nd-teknic · web-flow · commit 94cdadfc12f8 · 2024-08-12T12:32:27.000-04:00
* update gitignore

* example fix: properly display move done feedback and handle alerts

* example fix: change 3rd party stepper examples to use CLOCK_RATE_LOW

* example fix: update delays in mc/sd programs to ensure the move is done before commanding the next

* bug: fix issue for users with a space in their computer username

* update submodule to ClearCore Library

* add release 1.7.0
diff --git a/.gitignore b/.gitignore
@@ -38,3 +38,4 @@ drivers/verifyinf.cmd
 *.zip
 *.componentinfo.xml
 jlink.*
+.vscode/
diff --git a/Teknic b/Teknic
@@ -1 +1 @@
-Subproject commit b39162b475c4f629d257283fe907fb9dcde0ba7d
+Subproject commit 10a59dfa477e145cd8bf5a7732dcf764cd9bec4d
diff --git a/keywords.txt b/keywords.txt
@@ -568,16 +568,6 @@ MOTOR_M0M1	LITERAL1
 MOTOR_M2M3	LITERAL1
 MOTOR_MOVING	LITERAL1
 MOTOR_READY	LITERAL1
-MOVE_TARGET_ABSOLUTE	LITERAL1
-MOVE_TARGET_REL_END_POSN	LITERAL1
-MS_ACCEL	LITERAL1
-MS_CHANGE_DIR	LITERAL1
-MS_CRUISE	LITERAL1
-MS_DECEL	LITERAL1
-MS_DECEL_VEL	LITERAL1
-MS_END	LITERAL1
-MS_IDLE	LITERAL1
-MS_START	LITERAL1
 NONE	LITERAL1
 NUM_MOTOR_PAIRS	LITERAL1
 NVM_LOC_DAC_SPAN	LITERAL1
diff --git a/libraries/ClearPathModeExamples/ClearPath-MC Series/FollowDigitalTorque/FollowDigitalTorque.ino b/libraries/ClearPathModeExamples/ClearPath-MC Series/FollowDigitalTorque/FollowDigitalTorque.ino
@@ -154,9 +154,9 @@ bool CommandTorque(int commandedTorque) {
         motor.MotorInAState(false);
     }
 
-    // Ensures this delay is at least 2ms longer than the Input A filter
+    // Ensures this delay is at least 20ms longer than the Input A filter
     // setting in MSP
-    delay(2 + INPUT_A_FILTER);
+    delay(20 + INPUT_A_FILTER);
 
     // Command the move
     motor.MotorInBDuty(dutyRequest);
diff --git a/libraries/ClearPathModeExamples/ClearPath-MC Series/FollowDigitalVelocity/FollowDigitalVelocity.ino b/libraries/ClearPathModeExamples/ClearPath-MC Series/FollowDigitalVelocity/FollowDigitalVelocity.ino
@@ -138,7 +138,7 @@ bool CommandVelocity(long commandedVelocity) {
         motor.MotorInAState(true);
     }
     // Delays to send the correct filtered direction.
-    delay(2 + INPUT_A_FILTER);
+    delay(20 + INPUT_A_FILTER);
 
     // Find the scaling factor of our velocity range mapped to the PWM duty
     // cycle range (255 is the max duty cycle).
diff --git a/libraries/ClearPathModeExamples/ClearPath-MC Series/MoveAbsolutePosition/Abs16PositionsHomeToHardStop/Abs16PositionsHomeToHardStop.ino b/libraries/ClearPathModeExamples/ClearPath-MC Series/MoveAbsolutePosition/Abs16PositionsHomeToHardStop/Abs16PositionsHomeToHardStop.ino
@@ -202,13 +202,10 @@ bool MoveToPosition(int positionNum) {
     else {
         // If an invalid positionNum has been entered, returns a failure
         return false;
-    }
-
-    // Ensures this delay is at least 2ms longer than the Input A, B filter
-    // setting in MSP
-    delay(1);
+    }  
 
     // Waits for HLFB to assert (signaling the move has successfully completed)
+    delay(2);
     Serial.println("Moving.. Waiting for HLFB");
     while (motor.HlfbState() != MotorDriver::HLFB_ASSERTED &&
 			!motor.StatusReg().bit.MotorInFault) {
diff --git a/libraries/ClearPathModeExamples/ClearPath-MC Series/MoveAbsolutePosition/Abs2PositionsHomeToSwitch/Abs2PositionsHomeToSwitch.ino b/libraries/ClearPathModeExamples/ClearPath-MC Series/MoveAbsolutePosition/Abs2PositionsHomeToSwitch/Abs2PositionsHomeToSwitch.ino
@@ -190,9 +190,9 @@ bool MoveToPosition(int positionNum) {
             return false;
     }
 
-    // Ensures this delay is at least 2ms longer than the Input A, B filter
+    // Ensures this delay is at least 20ms longer than the Input A, B filter
     // setting in MSP
-    delay(2 + INPUT_A_B_FILTER);
+    delay(20 + INPUT_A_B_FILTER);
 
     // Waits for HLFB to assert (signaling the move has successfully completed)
     Serial.println("Moving.. Waiting for HLFB");
diff --git a/libraries/ClearPathModeExamples/ClearPath-MC Series/MoveAbsolutePosition/Abs4PositionsHomeToHardStop/Abs4PositionsHomeToHardStop.ino b/libraries/ClearPathModeExamples/ClearPath-MC Series/MoveAbsolutePosition/Abs4PositionsHomeToHardStop/Abs4PositionsHomeToHardStop.ino
@@ -209,9 +209,9 @@ bool MoveToPosition(int positionNum) {
             return false;
     }
 
-    // Ensures this delay is at least 2ms longer than the Input A, B filter
+    // Ensures this delay is at least 20ms longer than the Input A, B filter
     // setting in MSP
-    delay(2 + INPUT_A_B_FILTER);
+    delay(20 + INPUT_A_B_FILTER);
 
     // Waits for HLFB to assert (signaling the move has successfully completed)
     Serial.println("Moving.. Waiting for HLFB");
diff --git a/libraries/ClearPathModeExamples/ClearPath-MC Series/MoveIncrementalDistance/Move2IncrementsHomeToSwitch/Move2IncrementsHomeToSwitch.ino b/libraries/ClearPathModeExamples/ClearPath-MC Series/MoveIncrementalDistance/Move2IncrementsHomeToSwitch/Move2IncrementsHomeToSwitch.ino
@@ -231,8 +231,8 @@ bool MoveIncrements(int numberOfIncrements, int positionIncrement) {
             return false;
     }
 
-    // Delays for 2ms longer than the Input A, B filter setting in MSP
-    delay(2 + INPUT_A_B_FILTER);
+    // Delays for 20ms longer than the Input A, B filter setting in MSP
+    delay(20 + INPUT_A_B_FILTER);
 
     // Sends trigger pulses to the motor
     motor.EnableTriggerPulse(numberOfIncrements, TRIGGER_PULSE_TIME, true);
diff --git a/libraries/ClearPathModeExamples/ClearPath-MC Series/MoveIncrementalDistance/Move4IncrementsHomeToHardStop/Move4IncrementsHomeToHardStop.ino b/libraries/ClearPathModeExamples/ClearPath-MC Series/MoveIncrementalDistance/Move4IncrementsHomeToHardStop/Move4IncrementsHomeToHardStop.ino
@@ -232,8 +232,8 @@ bool MoveIncrements(int numberOfIncrements, int positionIncrement) {
             return false;
     }
 
-    // Delays 2ms longer than the Input A, B filter setting in MSP
-    delay(2 + INPUT_A_B_FILTER);
+    // Delays 20ms longer than the Input A, B filter setting in MSP
+    delay(20 + INPUT_A_B_FILTER);
 
     // Sends trigger pulses to the motor
     motor.EnableTriggerPulse(numberOfIncrements, TRIGGER_PULSE_TIME, true);
diff --git a/libraries/ClearPathModeExamples/ClearPath-MC Series/RampUpDownToSelectedVelocity/RampUpDownToSelectedVelocity.ino b/libraries/ClearPathModeExamples/ClearPath-MC Series/RampUpDownToSelectedVelocity/RampUpDownToSelectedVelocity.ino
@@ -208,9 +208,9 @@ bool RampToVelocitySelection(int velocityIndex) {
             return false;
     }
 
-    // Ensures this delay is at least 2ms longer than the Input A, B filter
+    // Ensures this delay is at least 20ms longer than the Input A, B filter
     // setting in MSP
-    delay(2 + INPUT_A_B_FILTER);
+    delay(20 + INPUT_A_B_FILTER);
 
     // Waits for HLFB to assert (signaling the move has successfully reached its
     // target velocity)
diff --git a/libraries/ClearPathModeExamples/ClearPath-SD Series/DualAxisSynchronized/DualAxisSynchronized.ino b/libraries/ClearPathModeExamples/ClearPath-SD Series/DualAxisSynchronized/DualAxisSynchronized.ino
@@ -206,37 +206,36 @@ bool SynchronizedMove(int distance) {
     motor0.Move(distance);
     motor1.Move(distance);
 
+    // Tell the user that the program will wait for HLFB to assert on both motors
+    Serial.println("Waiting for HLFB to assert on both motors");
+
     // Wait until both motors complete their moves
     uint32_t lastStatusTime = millis();
     while ( (!motor0.StepsComplete() || motor0.HlfbState() != MotorDriver::HLFB_ASSERTED ||
            !motor1.StepsComplete() || motor1.HlfbState() != MotorDriver::HLFB_ASSERTED) &&
 		   !motor0.StatusReg().bit.AlertsPresent && !motor1.StatusReg().bit.AlertsPresent ){
-        // Periodically print out why the application is waiting
-        if (millis() - lastStatusTime > 100) {
-            Serial.println("Waiting for HLFB to assert on both motors");
-            lastStatusTime = millis();
-        }
-        
-        // Check if motor alert occurred during move
-		// Clear alert if configured to do so 
-        if (motor0.StatusReg().bit.AlertsPresent || motor1.StatusReg().bit.AlertsPresent){
-            motor0.MoveStopAbrupt();
-            motor1.MoveStopAbrupt();
-			Serial.println("Motor alert detected.");		
-			PrintAlerts();
-			if(HANDLE_ALERTS){
-				HandleAlerts();
-			} else {
-				Serial.println("Enable automatic fault handling by setting HANDLE_ALERTS to 1.");
-			}
-			Serial.println("Motion may not have completed as expected. Proceed with caution.");
-			Serial.println();
-			return false;
+    	continue; 
+	}
+
+    // Check if motor alert occurred during move
+	// Clear alert if configured to do so 
+    if (motor0.StatusReg().bit.AlertsPresent || motor1.StatusReg().bit.AlertsPresent){
+		motor0.MoveStopAbrupt();
+      	motor1.MoveStopAbrupt();
+		Serial.println("Motor alert detected.");		
+		PrintAlerts();
+		if(HANDLE_ALERTS){
+			HandleAlerts();
 		} else {
-			Serial.println("Move Done");
-			return true;
+			Serial.println("Enable automatic fault handling by setting HANDLE_ALERTS to 1.");
 		}
-   }
+		Serial.println("Motion may not have completed as expected. Proceed with caution.");
+		Serial.println();
+		return false;
+	} else {
+		Serial.println("Move Done");
+		return true;
+	}
 }
 //------------------------------------------------------------------------------
 
diff --git a/libraries/ClearPathModeExamples/ClearPath-SD Series/UserSeeksHome/UserSeeksHome.ino b/libraries/ClearPathModeExamples/ClearPath-SD Series/UserSeeksHome/UserSeeksHome.ino
@@ -126,7 +126,7 @@ void setup() {
 
 
     // Delay so HLFB has time to deassert
-    delay(10);
+    delay(20);
     // Waits for HLFB to assert again, meaning the hardstop has been reached
     while (motor.HlfbState() != MotorDriver::HLFB_ASSERTED) {
         if (motor.StatusReg().bit.AlertsPresent) {
@@ -147,7 +147,7 @@ void setup() {
     motor.Move(-1000);
 
     // Delay so HLFB has time to deassert
-    delay(10);
+    delay(20);
     // Waits for HLFB to assert, meaning homing is complete
     Serial.println("Moving away from hardstop... Waiting for HLFB");
     while (motor.HlfbState() != MotorDriver::HLFB_ASSERTED) {
diff --git a/libraries/StepAndDirection/StepAndDirection/StepAndDirection.ino b/libraries/StepAndDirection/StepAndDirection/StepAndDirection.ino
@@ -47,7 +47,7 @@ void setup() {
     // Put your setup code here, it will only run once:
 
     // Sets the input clocking rate.
-    MotorMgr.MotorInputClocking(MotorManager::CLOCK_RATE_NORMAL);
+    MotorMgr.MotorInputClocking(MotorManager::CLOCK_RATE_LOW);
 
     // Sets all motor connectors into step and direction mode.
     MotorMgr.MotorModeSet(MotorManager::MOTOR_ALL,
diff --git a/package_clearcore_index.json b/package_clearcore_index.json
@@ -99,6 +99,37 @@
               "version": "4.5.0"
             }
           ]
+        },
+        {
+          "name": "ClearCore",
+          "architecture": "sam",
+          "version": "1.7.0",
+          "category": "Contributed",
+          "help": { "online": "https://teknic-inc.github.io/ClearCore-library/" },
+          "url": "https://www.teknic.com/files/downloads/ClearCore-1.7.0.zip",
+          "archiveFileName": "ClearCore-1.7.0.zip",
+          "checksum": "SHA-256:cc2b1081ff09a79746e011c228ecf11c1b3e7d7dc67f97619d9f6974f3114143",
+          "size": "5088417",
+          "boards": [
+            {"name": "ClearCore"}
+          ],
+          "toolsDependencies": [
+            {
+              "packager": "arduino",
+              "name": "arm-none-eabi-gcc",
+              "version": "7-2017q4"
+            },
+            {
+              "packager": "arduino",
+              "name": "bossac",
+              "version": "1.9.1-arduino1"
+            },
+            {
+              "name": "CMSIS",
+              "packager": "arduino",
+              "version": "4.5.0"
+            }
+          ]
         }
       ]
     }
diff --git a/platform.txt b/platform.txt
@@ -72,7 +72,7 @@ archive_file_path={build.path}/{archive_file}
 recipe.ar.pattern="{compiler.path}{compiler.ar.cmd}" {compiler.ar.flags} {compiler.ar.extra_flags} "{archive_file_path}" "{object_file}"
 
 ## Linker: Combine gc-sections, archives, and objects
-recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mthumb -mcpu={build.mcu} -mfloat-abi={build.float} -mfpu={build.fpu} {compiler.c.elf.extra_flags} -specs=rdimon.specs -o "{build.path}/{build.project_name}.elf" "-T{build.variant.path}/{build.ldscript}" {object_files} "{build.path}/{archive_file}" {compiler.arm.cmsis.ldflags} -lm -Xlinker -Map={build.path}/{build.project_name}.map
+recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mthumb -mcpu={build.mcu} -mfloat-abi={build.float} -mfpu={build.fpu} {compiler.c.elf.extra_flags} -specs=rdimon.specs -o "{build.path}/{build.project_name}.elf" "-T{build.variant.path}/{build.ldscript}" {object_files} "{build.path}/{archive_file}" {compiler.arm.cmsis.ldflags} -lm -Xlinker "-Map={build.path}/{build.project_name}.map"
 
 ## Create output files (.eep and .bin)
 recipe.objcopy.eep.pattern="{compiler.path}{compiler.objcopy.cmd}" {compiler.objcopy.eep.flags} {compiler.objcopy.eep.extra_flags} "{build.path}/{build.project_name}.elf" "{build.path}/{build.project_name}.eep"
diff --git a/zipClearCore.cmd b/zipClearCore.cmd
@@ -1,4 +1,4 @@
-set ver=1.1.2
+set ver=1.7.0
 rem set version=shell git describe --dirty --always --tags
 
 .\keywordify.py -S -p .\ 
@@ -20,6 +20,7 @@ rem Remove various files not intended for release
 rd /s /q .\Style
 rd /s /q .\Debug
 rd /s /q .\Release
+rd /s /q .\.vscode
 del .\zipClearCore.cmd
 del .\package_clearcore_index.json
 

Original file line number	Diff line number	Diff line change
`@@ -138,7 +138,7 @@ bool CommandVelocity(long commandedVelocity) {`
`138`	`138`	`motor.MotorInAState(true);`
`139`	`139`	`}`
`140`	`140`	`// Delays to send the correct filtered direction.`
`141`		`- delay(2 + INPUT_A_FILTER);`
	`141`	`+ delay(20 + INPUT_A_FILTER);`
`142`	`142`
`143`	`143`	`// Find the scaling factor of our velocity range mapped to the PWM duty`
`144`	`144`	`// cycle range (255 is the max duty cycle).`
Original file line number	Diff line number	Diff line change
`@@ -231,8 +231,8 @@ bool MoveIncrements(int numberOfIncrements, int positionIncrement) {`
`231`	`231`	`return false;`
`232`	`232`	`}`
`233`	`233`
`234`		`- // Delays for 2ms longer than the Input A, B filter setting in MSP`
`235`		`- delay(2 + INPUT_A_B_FILTER);`
	`234`	`+ // Delays for 20ms longer than the Input A, B filter setting in MSP`
	`235`	`+ delay(20 + INPUT_A_B_FILTER);`
`236`	`236`
`237`	`237`	`// Sends trigger pulses to the motor`
`238`	`238`	`motor.EnableTriggerPulse(numberOfIncrements, TRIGGER_PULSE_TIME, true);`
Original file line number	Diff line number	Diff line change
`@@ -232,8 +232,8 @@ bool MoveIncrements(int numberOfIncrements, int positionIncrement) {`
`232`	`232`	`return false;`
`233`	`233`	`}`
`234`	`234`
`235`		`- // Delays 2ms longer than the Input A, B filter setting in MSP`
`236`		`- delay(2 + INPUT_A_B_FILTER);`
	`235`	`+ // Delays 20ms longer than the Input A, B filter setting in MSP`
	`236`	`+ delay(20 + INPUT_A_B_FILTER);`
`237`	`237`
`238`	`238`	`// Sends trigger pulses to the motor`
`239`	`239`	`motor.EnableTriggerPulse(numberOfIncrements, TRIGGER_PULSE_TIME, true);`