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/**
* Motor Calibration Utilities
* Specialized functions for motor calibration procedures
*/
import { STS3215_PROTOCOL } from "./sts3215-protocol.js";
import { encodeSignMagnitude } from "./sign-magnitude.js";
import {
readAllMotorPositions,
writeMotorRegister,
type MotorCommunicationPort,
} from "./motor-communication.js";
/**
* Reset homing offsets to 0 for all motors
*/
export async function resetHomingOffsets(
port: MotorCommunicationPort,
motorIds: number[]
): Promise<void> {
for (let i = 0; i < motorIds.length; i++) {
const motorId = motorIds[i];
try {
const packet = new Uint8Array([
0xff,
0xff,
motorId,
0x05,
0x03,
STS3215_PROTOCOL.HOMING_OFFSET_ADDRESS,
0x00, // Low byte of 0
0x00, // High byte of 0
0x00, // Checksum
]);
const checksum =
~(
motorId +
0x05 +
0x03 +
STS3215_PROTOCOL.HOMING_OFFSET_ADDRESS +
0x00 +
0x00
) & 0xff;
packet[8] = checksum;
await port.write(packet);
try {
await port.read(200);
} catch (error) {
// Silent - response not required
}
} catch (error) {
throw new Error(`Failed to reset homing offset for motor ${motorId}`);
}
}
}
/**
* Write homing offsets to motor registers immediately
*/
export async function writeHomingOffsetsToMotors(
port: MotorCommunicationPort,
motorIds: number[],
motorNames: string[],
homingOffsets: { [motor: string]: number }
): Promise<void> {
for (let i = 0; i < motorIds.length; i++) {
const motorId = motorIds[i];
const motorName = motorNames[i];
const homingOffset = homingOffsets[motorName];
try {
const encodedOffset = encodeSignMagnitude(
homingOffset,
STS3215_PROTOCOL.SIGN_MAGNITUDE_BIT
);
const packet = new Uint8Array([
0xff,
0xff,
motorId,
0x05,
0x03,
STS3215_PROTOCOL.HOMING_OFFSET_ADDRESS,
encodedOffset & 0xff,
(encodedOffset >> 8) & 0xff,
0x00,
]);
const checksum =
~(
motorId +
0x05 +
0x03 +
STS3215_PROTOCOL.HOMING_OFFSET_ADDRESS +
(encodedOffset & 0xff) +
((encodedOffset >> 8) & 0xff)
) & 0xff;
packet[8] = checksum;
await port.write(packet);
try {
await port.read(200);
} catch (error) {
// Silent - response not required
}
} catch (error) {
throw new Error(`Failed to write homing offset for ${motorName}`);
}
}
}
/**
* Set homing offsets with immediate writing
*/
export async function setHomingOffsets(
port: MotorCommunicationPort,
motorIds: number[],
motorNames: string[]
): Promise<{ [motor: string]: number }> {
// Reset existing homing offsets to 0 first
await resetHomingOffsets(port, motorIds);
await new Promise((resolve) => setTimeout(resolve, 100));
// Read positions (which will be true physical positions)
const currentPositions = await readAllMotorPositions(port, motorIds);
const homingOffsets: { [motor: string]: number } = {};
const halfTurn = Math.floor((STS3215_PROTOCOL.RESOLUTION - 1) / 2);
for (let i = 0; i < motorNames.length; i++) {
const motorName = motorNames[i];
const position = currentPositions[i];
homingOffsets[motorName] = position - halfTurn;
}
// Write homing offsets to motors immediately
await writeHomingOffsetsToMotors(port, motorIds, motorNames, homingOffsets);
return homingOffsets;
}
/**
* Write hardware position limits to motors
*/
export async function writeHardwarePositionLimits(
port: MotorCommunicationPort,
motorIds: number[],
motorNames: string[],
rangeMins: { [motor: string]: number },
rangeMaxes: { [motor: string]: number }
): Promise<void> {
for (let i = 0; i < motorIds.length; i++) {
const motorId = motorIds[i];
const motorName = motorNames[i];
const minLimit = rangeMins[motorName];
const maxLimit = rangeMaxes[motorName];
try {
// Write Min_Position_Limit register
await writeMotorRegister(
port,
motorId,
STS3215_PROTOCOL.MIN_POSITION_LIMIT_ADDRESS,
minLimit
);
// Write Max_Position_Limit register
await writeMotorRegister(
port,
motorId,
STS3215_PROTOCOL.MAX_POSITION_LIMIT_ADDRESS,
maxLimit
);
} catch (error) {
throw new Error(`Failed to write position limits for ${motorName}`);
}
}
}
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