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Add better motor movement safety

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Motor now moves faster, but slows down when more than halfway through
timeout, so that limit switches aren't pushed as hard.
This commit is contained in:
Blizzard Finnegan 2023-02-28 11:26:54 -05:00
parent 99569154e9
commit 7b38d83366
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GPG key ID: DE547EDF547DDA49
6 changed files with 55 additions and 32 deletions
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2
dependency-reduced-pom.xml
View file

@ -4,7 +4,7 @@
<groupId>org.baxter.disco</groupId>
<artifactId>ocr</artifactId>
<name>Disco OCR Accuracy Over Life Testing</name>
<version>4.3.3</version>
<version>4.3.4</version>
<description>Testing Discos for long-term accuracy, using automated optical character recognition.</description>
<organization>
<name>Baxter International</name>

2
pom.xml
View file

@ -3,7 +3,7 @@
<modelVersion>4.0.0</modelVersion>
<groupId>org.baxter.disco</groupId>
<artifactId>ocr</artifactId>
<version>4.3.3</version>
<version>4.3.4</version>
<packaging>jar</packaging>
<name>Disco OCR Accuracy Over Life Testing</name>
<description>Testing Discos for long-term accuracy, using automated optical character recognition.</description>

2
runScript.sh
View file

@ -1,2 +1,2 @@
#! /usr/bin/env sh
sudo java -jar discoTesting-4.3.3.jar 2>/dev/null
sudo java -jar discoTesting-4.3.4.jar 2>/dev/null

34
src/main/java/org/baxter/disco/ocr/Cli.java
View file

@ -25,7 +25,7 @@ public class Cli
/**
* Complete build version number
*/
private static final String version = "4.3.3";
private static final String version = "4.3.4";
/**
* Currently saved iteration count.
@ -108,7 +108,7 @@ public class Cli
{
//Show the main menu, wait for user input
printMainMenu();
userInput = inputFiltering(inputScanner.nextLine());
userInput = (int)inputFiltering(inputScanner.nextLine());
//Perform action based on user input
switch (userInput)
@ -430,7 +430,7 @@ public class Cli
println("Testing movement...");
fixture.testMotions();
printMovementMenu();
userInput = inputFiltering(inputScanner.nextLine());
userInput = (int)inputFiltering(inputScanner.nextLine());
switch (userInput)
{
/*
@ -442,7 +442,7 @@ public class Cli
*/
case 1:
prompt("Input the desired duty cycle value: ");
int newDutyCycle = inputFiltering(inputScanner.nextLine());
int newDutyCycle = (int)inputFiltering(inputScanner.nextLine());
if (newDutyCycle != -1)
{
fixture.setDutyCycle(newDutyCycle);
@ -450,7 +450,7 @@ public class Cli
}
case 2:
prompt("Input the desired frequency value: ");
int newFrequency = inputFiltering(inputScanner.nextLine());
int newFrequency = (int)inputFiltering(inputScanner.nextLine());
if (newFrequency != -1)
{
fixture.setFrequency(newFrequency);
@ -458,7 +458,7 @@ public class Cli
}
case 3:
prompt("Input the desired time-out (in seconds): ");
int newTimeout = inputFiltering(inputScanner.nextLine());
double newTimeout = inputFiltering(inputScanner.nextLine());
if (newTimeout != -1)
{
fixture.setTimeout(newTimeout);
@ -496,7 +496,7 @@ public class Cli
do
{
prompt("Enter a camera number to configure: ");
userInput = inputFiltering(inputScanner.nextLine());
userInput = (int)inputFiltering(inputScanner.nextLine());
userInput--;
} while (cameraList.size() < userInput && userInput < 0);
@ -527,7 +527,7 @@ public class Cli
//list configurable settings
printCameraConfigMenu(cameraName,tesseractValue);
userInput = inputFiltering(inputScanner.nextLine(),Menus.CAMERA);
userInput = (int)inputFiltering(inputScanner.nextLine(),Menus.CAMERA);
switch (userInput)
{
case 1:
@ -573,7 +573,7 @@ public class Cli
//Prompt is in int, as the ultimate values are cast
//to int anyways, a decimal would be confusing
(int)ConfigFacade.getValue(cameraName,modifiedProperty) + "): ");
userInput = inputFiltering(inputScanner.nextLine());
userInput = (int)inputFiltering(inputScanner.nextLine());
ConfigFacade.setValue(cameraName,modifiedProperty,userInput);
}
@ -607,7 +607,7 @@ public class Cli
do
{
prompt("Enter the camera you wish to set the serial of: ");
userInput = inputFiltering(inputScanner.nextLine());
userInput = (int)inputFiltering(inputScanner.nextLine());
//Compensate for off-by-one errors
userInput--;
} while (cameraList.size() < userInput || userInput < 0);
@ -634,7 +634,7 @@ public class Cli
do
{
prompt("Input the number of test iterations to complete: ");
input = inputFiltering(inputScanner.nextLine());
input = (int)inputFiltering(inputScanner.nextLine());
} while(input == -1);
iterationCount = input;
}
@ -659,7 +659,7 @@ public class Cli
do
{
prompt("Enter the camera you wish to toggle: ");
userInput = inputFiltering(inputScanner.nextLine());
userInput = (int)inputFiltering(inputScanner.nextLine());
userInput--;
} while (cameraList.size() < userInput || userInput < 0);
@ -830,7 +830,7 @@ public class Cli
*
* @param input The unparsed user input, directly from the {@link Scanner}
*/
private static int inputFiltering(String input)
private static double inputFiltering(String input)
{ return inputFiltering(input, Menus.OTHER); }
/**
@ -841,18 +841,18 @@ public class Cli
*
* @return The parsed value from the user. Returns -1 upon any error.
*/
private static int inputFiltering(String input, Menus menu)
private static double inputFiltering(String input, Menus menu)
{
int output = -1;
double output = -1;
input.trim();
try(Scanner sc = new Scanner(input))
{
if(!sc.hasNextInt())
if(!sc.hasNextDouble())
{
invalidInput();
return output;
}
output = sc.nextInt();
output = sc.nextDouble();
if(output < 0)
{
negativeInput();

38
src/main/java/org/baxter/disco/ocr/MovementFacade.java
View file

@ -23,7 +23,7 @@ import com.pi4j.io.pwm.PwmType;
* Currently missing Run switch compatibility.
*
* @author Blizzard Finnegan
* @version 2.2.0, 06 Feb. 2023
* @version 2.3.0, 27 Feb. 2023
*/
public class MovementFacade
{
@ -68,7 +68,7 @@ public class MovementFacade
/**
* PWM Frequency
*/
private static int FREQUENCY = 70000;
private static int FREQUENCY = 75000;
/**
* PWM Duty Cycle
@ -78,7 +78,7 @@ public class MovementFacade
/**
* Number of seconds to wait before timing out a fixture movement.
*/
private static int TIME_OUT = 3;
private static double TIME_OUT = 2.5;
//PWM Addresses
//All addresses are in BCM format.
@ -118,6 +118,17 @@ public class MovementFacade
*/
private static final int LOWER_LIMIT_ADDR = 24;
/**
* How many milliseconds to wait before polling the GPIO
*/
private static final int POLL_WAIT = 20;
/**
* How many times to poll the GPIO during a movement call.
* The 1000/POLL_WAIT in this definition is converting poll-times to polls-per-second.
*/
private static double POLL_COUNT = TIME_OUT * (1000 / POLL_WAIT);
//Pi GPIO pin objects
/**
@ -332,7 +343,7 @@ public class MovementFacade
*
* @return True if the value was set successfully; otherwise false.
*/
public boolean setTimeout(int newTimeout)
public boolean setTimeout(double newTimeout)
{
boolean output = false;
if(newTimeout < 0)
@ -342,6 +353,7 @@ public class MovementFacade
else
{
TIME_OUT = newTimeout;
POLL_COUNT = TIME_OUT * ( 1000 / POLL_WAIT );
output = true;
}
return output;
@ -352,7 +364,7 @@ public class MovementFacade
*
* @return The current timeout.
*/
public int getTimeout() { return TIME_OUT; }
public double getTimeout() { return TIME_OUT; }
/**
* Setter for the fixture's PWM frequency.
@ -391,7 +403,7 @@ public class MovementFacade
* @param timeout How long (in seconds) to wait before timing out.
* @return true if movement was successful; otherwise false
*/
private boolean gotoLimit(boolean moveUp, int timeout)
private boolean gotoLimit(boolean moveUp, double timeout)
{
boolean output = false;
DigitalInput limitSense;
@ -408,16 +420,22 @@ public class MovementFacade
ErrorLogging.logError("DEBUG: Sending fixture down...");
}
double mostlyThere = (POLL_COUNT * 2) / 3;
int slowerSpeed = FREQUENCY / 4;
motorEnable.on();
for(int i = 0; i < (timeout * 20);i++)
for(int i = 0; i < (POLL_COUNT);i++)
{
try{ Thread.sleep(50); } catch(Exception e) {ErrorLogging.logError(e);};
try{ Thread.sleep(POLL_WAIT); } catch(Exception e) {ErrorLogging.logError(e);};
output = limitSense.isHigh();
if(output) break;
else if(i >= mostlyThere)
{ pwm.on(DUTY_CYCLE, slowerSpeed); continue; }
}
if(output == false)
ErrorLogging.logError("FIXTURE MOVEMENT ERROR! - Motor movement timed out!");
motorEnable.off();
pwm.on(DUTY_CYCLE, FREQUENCY);
return output;
}
@ -427,7 +445,7 @@ public class MovementFacade
* @param timeout How long (in seconds) to wait before timing out.
* @return true if movement was successful; otherwise false
*/
public boolean goDown(int timeout) { return gotoLimit(false, timeout); }
public boolean goDown(double timeout) { return gotoLimit(false, timeout); }
/**
* Send the fixture to the upper limit switch.
@ -435,7 +453,7 @@ public class MovementFacade
* @param timeout How long (in seconds) to wait before timing out.
* @return true if movement was successful; otherwise false
*/
public boolean goUp(int timeout) { return gotoLimit(true, timeout); }
public boolean goUp(double timeout) { return gotoLimit(true, timeout); }
/**
* Send the fixture to the lower limit switch.

9
src/main/java/org/baxter/disco/ocr/TesseractFacade.java
View file

@ -20,7 +20,7 @@ import org.bytedeco.tesseract.TessBaseAPI;
* information for this specific testing aparatus.
*
* @author Blizzard Finnegan
* @version 2.1.0, 06 Feb. 2023
* @version 2.2.0, 27 Feb. 2023
*/
public class TesseractFacade
{
@ -79,7 +79,12 @@ public class TesseractFacade
{
ErrorLogging.logError("OCR WARNING - OCR output is too high for DUT, attempting to adjust...");
output = output / 10;
if(output >= 200)
if(output >= 300)
{
output = output / 10;
ErrorLogging.logError("OCR output saved, as value appears to be real. Value needs to be verified.");
}
else if(output >= 200)
ErrorLogging.logError("OCR WARNING - OCR output is too high for DUT, potential misread.");
else
ErrorLogging.logError("OCR output successfully adjusted. Disregard warning.");