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update MATLAB class
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- improved legibility of object properties
- switch to higher precision positioning
- formatting
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@bimac
bimac committed May 23, 2023
1 parent 55d8dc2 commit a661ea5
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Showing 2 changed files with 96 additions and 53 deletions.
4 changes: 2 additions & 2 deletions software/MATLAB/BpodStepperLive.m
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Original file line number Diff line number Diff line change
Expand Up @@ -18,9 +18,9 @@
obj.s.Port.BytesAvailableFcn = @obj.update;

switch obj.s.DriverVersion
case 2130
case 'TMC2130'
obj.vDiv = 13.2E6 / 256;
case 5160
case 'TMC5160'
obj.vDiv = 12.0E6 / 256;
otherwise
error('Driver IC is not supported.')
Expand Down
145 changes: 94 additions & 51 deletions software/MATLAB/BpodStepperModule.m
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Original file line number Diff line number Diff line change
@@ -1,35 +1,36 @@
%{
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, version 3.
This program is distributed WITHOUT ANY WARRANTY and without even the
implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
%}
% This program is free software: you can redistribute it and/or modify it
% under the terms of the GNU General Public License as published by the
% Free Software Foundation, version 3.
%
% This program is distributed WITHOUT ANY WARRANTY and without even the
% implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
% See the GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License along
% with this program. If not, see <http://www.gnu.org/licenses/>.

classdef BpodStepperModule < handle & matlab.mixin.CustomDisplay

properties (SetAccess = protected)
Port % ArCOM Serial port
HardwareRevision % PCB revision of connected module
FirmwareVersion % firmware version of connected module
HardwareVersion % PCB revision of connected module
DriverVersion % which TMC driver is installed?
end

properties (Dependent)
RMScurrent % RMS current (mA)
holdRMScurrent % hold RMS current (mA)
ChopperMode % 0 = PWM chopper ("spreadCycle")
% 1 = voltage chopper ("stealthChop")
% 2 = constant off time
Acceleration % acceleration (full steps / s^2)
MaxSpeed % peak velocity (full steps / s)
PeakCurrent % peak current (mA)
RMScurrent % RMS current (mA)
holdRMScurrent % hold RMS current (mA)
% ChopperMode
% 0 = PWM chopper ("spreadCycle")
% 1 = voltage chopper ("stealthChop")
% 2 = constant off time
ChopperMode
Acceleration % acceleration (full steps / s^2)
MaxSpeed % peak velocity (full steps / s)
MicroPosition
Position % absolute position
Position % absolute position
EncoderPosition
end

Expand Down Expand Up @@ -76,15 +77,15 @@

% get non-dependent parameters from stepper module
obj.Port.write('GH', 'uint8');
obj.HardwareVersion = double(obj.Port.read(1, 'uint8')) / 10;
obj.HardwareRevision = double(obj.Port.read(1, 'uint8')) / 10;
obj.Port.write('GT', 'uint8');
switch obj.Port.read(1, 'uint8')
case 17 % 0x11
obj.DriverVersion = 2130;
obj.DriverVersion = 'TMC2130';
case 48 % 0x30
obj.DriverVersion = 5160;
obj.DriverVersion = 'TMC5160';
otherwise
obj.DriverVersion = NaN;
obj.DriverVersion = 'unknown';
end
obj.Port.write('GA', 'uint8');
obj.privAcceleration = obj.Port.read(1, 'uint16');
Expand Down Expand Up @@ -121,25 +122,32 @@
obj.pauseStreaming(false);
end

function out = get.PeakCurrent(obj)
out = obj.RMScurrent * sqrt(2);
end
function set.PeakCurrent(obj, newCurrent)
obj.RMScurrent = newCurrent / sqrt(2);
end

function out = get.RMScurrent(obj)
out = obj.privRMScurrent;
end
function set.RMScurrent(obj, newCurrent)
validateattributes(newCurrent,{'numeric'},...
{'scalar','integer','nonnegative'})
{'scalar','nonnegative','real'})
obj.Port.write('I', 'uint8', newCurrent, 'uint16');
obj.pauseStreaming(true);
obj.Port.write('GI', 'uint8');
obj.privRMScurrent = obj.Port.read(1, 'uint16');
obj.pauseStreaming(false);
end

function out = get.holdRMScurrent(obj)
out = obj.privHoldRMScurrent;
end
function set.holdRMScurrent(obj, newCurrent)
validateattributes(newCurrent,{'numeric'},...
{'scalar','integer','nonnegative'})
{'scalar','nonnegative','real'})
obj.Port.write('i', 'uint8', newCurrent, 'uint16');
obj.pauseStreaming(true);
obj.Port.write('Gi', 'uint8');
Expand Down Expand Up @@ -172,13 +180,13 @@
end
function out = get.Position(obj)
obj.pauseStreaming(true);
obj.Port.write('GP', 'uint8');
out = obj.Port.read(1, 'int16');
obj.Port.write('Gp', 'uint8');
out = double(obj.Port.read(1, 'int32')) / 256;
obj.pauseStreaming(false);
end
function set.Position(obj,position)
validateattributes(position,{'numeric'},{'scalar','integer'})
obj.Port.write('P', 'int8', position, 'int16');
obj.Port.write('p', 'int8', round(position * 256), 'int32');
end
function resetPosition(obj)
% Reset value of absolute position to zero.
Expand All @@ -205,7 +213,7 @@ function step(obj, nSteps)
end
obj.Port.write('S', 'uint8', nSteps, 'int16');
end

function microStep(obj, nSteps)
% Move stepper motor a set number of micro-steps. nSteps = positive
% for clockwise steps, negative for counterclockwise
Expand Down Expand Up @@ -483,36 +491,71 @@ function pauseStreaming(obj, doPause)
tmp = [typecast(tmp(3:4), 'uint16') tmp([2 1])];
out = obj.verArr2Str(tmp);
end

function out = verArr2Str(~, in)
out = sprintf('%04d.%02d.%d', in(:));
end

function out = verArr2Int(~, in)
out = [uint8(in([3 2])) typecast(uint16(in(1)), 'uint8')];
out = typecast(out, 'uint32');
end
end

function displayPropGroup(obj, groups, fmts)
persistent nPad
persistent chopperModes
if isempty(nPad)
nPad = max(cellfun(@numel,[groups.PropertyList])) + 1;
chopperModes = {'PWM chopper', 'voltage chopper', 'constant off time chopper'};
end
for ii = 1:numel(groups)
padProps = pad(groups(ii).PropertyList, nPad, 'left');
fprintf(' <strong>%s</strong>\n',groups(ii).Title)
for jj = 1:groups(ii).NumProperties
if strcmp(groups(ii).PropertyList{jj}, 'ChopperMode')
fprintf([' %s: ' fmts{ii}{jj} ' (%s)\n'], ...
padProps{jj}, obj.(groups(ii).PropertyList{jj}), ...
chopperModes{1+obj.(groups(ii).PropertyList{jj})})
else
fprintf([' %s: ' fmts{ii}{jj} '\n'], ...
padProps{jj}, obj.(groups(ii).PropertyList{jj}))
end
end
fprintf('\n')
end
end

methods (Access = protected)
function propgrp = getPropertyGroups(obj)
gTitle1 = '<strong>Module Information</strong>';
propList1 = {'HardwareVersion','DriverVersion','FirmwareVersion'};
gTitle2 = '<strong>Motor Configuration</strong>';
propList2 = {'RMScurrent','holdRMScurrent','ChopperMode','MaxSpeed','Acceleration'};
gTitle3 = '<strong>Movement Parameters</strong>';
function [propgrp, fmt] = getPropGroups(obj)
gTitle{1} = 'Module Information';
gTitle{2} = 'Motor Configuration';
gTitle{3} = 'Movement Parameters';

pList{1} = {'HardwareRevision','DriverVersion','FirmwareVersion'};
pList{2} = {'PeakCurrent','RMScurrent','holdRMScurrent','ChopperMode'};
pList{3} = {'MaxSpeed','Acceleration','Position'};

fmt{1} = {'%.1f', '''%s''', '''%s'''};
fmt{2} = {'%d mA', '%d mA', '%d mA', '%d'};
fmt{3} = {'%d steps/s', '%d steps/s²', '%.1f steps'};

if obj.privUseEncoder
propList3 = {'Position','EncoderPosition'};
else
propList3 = {'Position'};
pList{3} = [pList{3} {'EncoderPosition'}];
fmt{3} = [fmt{3} {'%d'}];
end
propgrp(1) = matlab.mixin.util.PropertyGroup(propList1,gTitle1);
propgrp(2) = matlab.mixin.util.PropertyGroup(propList2,gTitle2);
propgrp(3) = matlab.mixin.util.PropertyGroup(propList3,gTitle3);
end

function s = getFooter(obj)
s = matlab.mixin.CustomDisplay.getDetailedFooter(obj);
propgrp(1) = matlab.mixin.util.PropertyGroup(pList{1},gTitle{1});
propgrp(2) = matlab.mixin.util.PropertyGroup(pList{2},gTitle{2});
propgrp(3) = matlab.mixin.util.PropertyGroup(pList{3},gTitle{3});
end
end

methods (Access = protected)
function displayScalarObject(obj)
fprintf('%s with properties:\n\n', ...
matlab.mixin.CustomDisplay.getClassNameForHeader(obj));
[propgroup, fmt] = getPropGroups(obj);
displayPropGroup(obj,propgroup,fmt)
disp(matlab.mixin.CustomDisplay.getDetailedFooter(obj))
end
end
end

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