[AutomatedAntennas] Added actuators test entrypoint

A battery of tests to try out stepper motors functionality and range of motion.

CMakeLists.txt

@@ -124,3 +124,10 @@ add_executable(test-steps src/entrypoints/Groundstation/Automated/test-steps.cpp
 target_include_directories(test-steps PRIVATE ${OBSW_INCLUDE_DIRS})
 # target_compile_definitions(test-steps PRIVATE NO_SD_LOGGING)
 sbs_target(test-steps stm32f767zi_automated_antennas)
+
+add_executable(test-actuators src/entrypoints/Groundstation/Automated/test-actuators.cpp
+    ${ANTENNAS} ${GROUNDSTATION_COMMON} ${GROUNDSTATION_AUTOMATED}
+)
+target_include_directories(test-actuators PRIVATE ${OBSW_INCLUDE_DIRS})
+# target_compile_definitions(test-actuators PRIVATE NO_SD_LOGGING)
+sbs_target(test-actuators stm32f767zi_automated_antennas)

src/entrypoints/Groundstation/Automated/test-actuators.cpp

+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Niccolò Betto
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <Groundstation/Automated/Actuators/Actuators.h>
+#include <Groundstation/Automated/Buses.h>
+#include <Groundstation/Automated/Hub.h>
+#include <Groundstation/Automated/Radio/Radio.h>
+#include <Groundstation/Automated/Radio/RadioStatus.h>
+#include <Groundstation/Automated/Sensors/Sensors.h>
+#include <Groundstation/Common/Ports/Serial.h>
+#include <diagnostic/PrintLogger.h>
+#include <drivers/interrupt/external_interrupts.h>
+#include <miosix.h>
+#include <scheduler/TaskScheduler.h>
+#include <utils/ButtonHandler/ButtonHandler.h>
+
+#define STEPPER_SPEED 0.25
+#define TEST_WAIT 5000
+
+#define START_MODULE(name, lambda)                                  \
+    do                                                              \
+    {                                                               \
+        std::function<bool()> _fun = lambda;                        \
+        if (!_fun())                                                \
+        {                                                           \
+            LOG_ERR(logger, "Failed to start module " name);        \
+            errorLoop();                                            \
+        }                                                           \
+        else                                                        \
+        {                                                           \
+            LOG_DEBUG(logger, "Successfully started module " name); \
+        }                                                           \
+    } while (0)
+
+using namespace Groundstation;
+using namespace Antennas;
+using namespace Boardcore;
+using namespace miosix;
+
+GpioPin button = GpioPin(GPIOG_BASE, 10);  ///< Emergency stop button
+
+void __attribute__((used)) EXTI10_IRQHandlerImpl()
+{
+    ModuleManager::getInstance().get<Actuators>()->IRQemergencyStop();
+}
+
+void ledWaitLoop(int ms)
+{
+    int waited = 0;
+    while (waited < ms)
+    {
+        led2On();
+        Thread::sleep(100);
+        led2Off();
+        Thread::sleep(100);
+        waited += 200;
+    }
+}
+
+void errorLoop()
+{
+    while (1)
+    {
+        userLed4::high();
+        Thread::sleep(100);
+        userLed4::low();
+        Thread::sleep(100);
+    }
+}
+
+void test1(Actuators *actuators)
+{
+    PrintLogger logger = PrintLogger{Logging::getLogger("test-actuators")};
+    LOG_INFO(logger, "Executing Test 1");
+
+    // theta1 : HORIZONTAL
+    // theta2 : VERTICAL
+    LOG_DEBUG(logger, "Setting speed to speed\n");
+    actuators->setSpeed(Actuators::StepperList::HORIZONTAL, STEPPER_SPEED);
+    actuators->setSpeed(Actuators::StepperList::VERTICAL, STEPPER_SPEED);
+
+    LOG_DEBUG(logger, "Moving 90deg horizontally\n");
+    actuators->moveDeg(Actuators::StepperList::HORIZONTAL, 90);
+    ledWaitLoop(TEST_WAIT);
+
+    LOG_DEBUG(logger, "Moving back to the initial horizontal position\n");
+    actuators->moveDeg(Actuators::StepperList::HORIZONTAL, -90);
+    ledWaitLoop(TEST_WAIT);
+
+    LOG_DEBUG(logger, "Moving -90deg horizontally\n");
+    actuators->moveDeg(Actuators::StepperList::HORIZONTAL, -90);
+    ledWaitLoop(TEST_WAIT);
+
+    LOG_DEBUG(logger, "Moving back to the initial horizontal position\n");
+    actuators->moveDeg(Actuators::StepperList::HORIZONTAL, 90);
+    ledWaitLoop(TEST_WAIT);
+
+    LOG_INFO(logger, "Test 1 completed\n");
+}
+
+void test2(Actuators *actuators) {
+    PrintLogger logger = PrintLogger{Logging::getLogger("test-actuators")};
+    LOG_INFO(logger, "Executing Test 2");
+
+    actuators->setSpeed(Actuators::StepperList::HORIZONTAL, STEPPER_SPEED);
+    actuators->setSpeed(Actuators::StepperList::VERTICAL, STEPPER_SPEED);
+    actuators->moveDeg(Actuators::StepperList::VERTICAL, 22.5);
+    ledWaitLoop(TEST_WAIT);
+
+    actuators->moveDeg(Actuators::StepperList::HORIZONTAL, 90);
+    ledWaitLoop(TEST_WAIT);
+
+    actuators->moveDeg(Actuators::StepperList::HORIZONTAL, -90);
+    ledWaitLoop(TEST_WAIT);
+
+    actuators->moveDeg(Actuators::StepperList::HORIZONTAL, -90);
+    ledWaitLoop(TEST_WAIT);
+
+    actuators->moveDeg(Actuators::StepperList::HORIZONTAL, 90);
+    ledWaitLoop(TEST_WAIT);
+
+    // Return to (0,0)
+    actuators->moveDeg(Actuators::StepperList::VERTICAL, -22.5);
+    ledWaitLoop(TEST_WAIT);
+
+    LOG_INFO(logger, "Test 2 completed\n");
+}
+
+void test6(Actuators *actuators) {
+    PrintLogger logger = PrintLogger{Logging::getLogger("test-actuators")};
+    LOG_INFO(logger, "Executing Test 6");
+
+    actuators->setSpeed(Actuators::StepperList::HORIZONTAL, STEPPER_SPEED);
+    actuators->setSpeed(Actuators::StepperList::VERTICAL, STEPPER_SPEED);
+    
+    actuators->moveDeg(Actuators::StepperList::VERTICAL, 22.5);
+    ledWaitLoop(TEST_WAIT);
+
+    actuators->moveDeg(Actuators::StepperList::VERTICAL, -22.5);
+    ledWaitLoop(TEST_WAIT);
+
+    actuators->moveDeg(Actuators::StepperList::VERTICAL, 45);
+    ledWaitLoop(TEST_WAIT);
+
+    actuators->moveDeg(Actuators::StepperList::VERTICAL, -45);
+    ledWaitLoop(TEST_WAIT);
+    
+    actuators->moveDeg(Actuators::StepperList::VERTICAL, 65.5);
+    ledWaitLoop(TEST_WAIT);
+
+    actuators->moveDeg(Actuators::StepperList::VERTICAL, -65.5);
+    ledWaitLoop(TEST_WAIT);
+
+    actuators->moveDeg(Actuators::StepperList::VERTICAL, 90);
+    ledWaitLoop(TEST_WAIT);
+
+    actuators->moveDeg(Actuators::StepperList::VERTICAL, -90);
+    ledWaitLoop(TEST_WAIT);
+
+    LOG_INFO(logger, "Test 6 completed\n");
+}
+
+int main()
+{
+    ledOff();
+    button.mode(Mode::INPUT);
+    enableExternalInterrupt(button.getPort(), button.getNumber(),
+                            InterruptTrigger::RISING_EDGE);
+
+    Hub *hub                  = new Hub();
+    Buses *buses              = new Buses();
+    Serial *serial            = new Serial();
+    Actuators *actuators      = new Actuators();
+    Sensors *sensors          = new Sensors();
+
+    ModuleManager &modules = ModuleManager::getInstance();
+    PrintLogger logger     = PrintLogger{Logging::getLogger("test-actuators")};
+    bool ok                = true;
+
+    LOG_INFO(logger, "test-actuators\n");
+
+    // Insert modules
+    {
+        ok &= modules.insert<HubBase>(hub);
+        ok &= modules.insert(buses);
+        ok &= modules.insert(serial);
+        ok &= modules.insert(actuators);
+        ok &= modules.insert(sensors);
+
+        // If insertion failed, stop right here
+        if (!ok)
+        {
+            LOG_ERR(logger, "Failed to insert all modules!\n");
+            errorLoop();
+        }
+        else
+        {
+            LOG_DEBUG(logger, "All modules inserted successfully!\n");
+        }
+    }
+
+    // Start modules
+    {
+#ifndef NO_SD_LOGGING
+        START_MODULE("Logger", [&] { return Logger::getInstance().start(); });
+#endif
+        START_MODULE("Serial", [&] { return serial->start(); });
+        START_MODULE("Sensors", [&] { return sensors->start(); });
+
+        actuators->start();
+        LOG_DEBUG(logger, "Actuators started successfully!\n");
+    }
+
+    // Setup success LED
+    led1On();
+    LOG_INFO(logger, "Modules setup successful");
+
+    LOG_INFO(logger, "Starting tests\n");
+
+    test1(actuators);
+    test2(actuators);
+    test6(actuators);
+
+    LOG_INFO(logger, "Tests completed\n");
+
+    led1Off();
+    while (1)
+    {
+        Thread::sleep(1000);
+    }
+    return 0;
+}
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