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[RSDK-880] implement driver for AM5's AS5048A encoder #1720

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merged 9 commits into from
Jan 5, 2023
Merged

[RSDK-880] implement driver for AM5's AS5048A encoder #1720

merged 9 commits into from
Jan 5, 2023

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gvaradarajan
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@viambot viambot added the safe to test This pull request is marked safe to test from a trusted zone label Dec 29, 2022
randhid
randhid requested changes Dec 30, 2022
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Looks really really good, a few cleanup comments, cases I want looked at, but nearly there. Good job!

components/board/arduino/encoder.go Show resolved Hide resolved
components/motor/fake/motor.go Show resolved Hide resolved
components/motor/gpio/motor_encoder.go Outdated Show resolved Hide resolved
components/encoder/as5048a.go Outdated Show resolved Hide resolved
components/encoder/as5048a.go Outdated
rdkutils "go.viam.com/rdk/utils"
)

var am5ModelName = resource.NewDefaultModel("AS5048A")
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suggest to add absolute to name

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I got this model name from the ticket, is this something we should run by @Fahmina ?

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yeah, please mention that this logic will likely be shared by multiple models int hat manufacturer's line.

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wait, is that likely?

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upon cursory inspection of the datasheets for other AM5 absolute position sensors, it seems that they have different bit resolutions for the angles and different data protocols (some don't even support i2c)? But there is an AS5048B that seems to work the same, maybe I can just remove the "A" at the end?

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The sub-model problem raises its head again. Then maybe am5-as5048 is a better model name. Either way, let's lock down a model name with product.

components/encoder/as5048a.go Outdated Show resolved Hide resolved
components/encoder/as5048a.go Outdated Show resolved Hide resolved
components/encoder/as5048a.go Outdated Show resolved Hide resolved
components/encoder/as5048a.go Outdated Show resolved Hide resolved
components/encoder/as5048a.go Outdated Show resolved Hide resolved
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 3, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 3, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 3, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 4, 2023
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 4, 2023
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Code Coverage

Package Line Rate Delta Health
go.viam.com/rdk/components/arm 56% 0.00% ➖
go.viam.com/rdk/components/arm/universalrobots 41% 0.00% ❌
go.viam.com/rdk/components/arm/xarm 2% 0.00% ❌
go.viam.com/rdk/components/arm/yahboom 7% 0.00% ❌
go.viam.com/rdk/components/audioinput 55% 0.00% ➖
go.viam.com/rdk/components/base 63% 0.00% ➖
go.viam.com/rdk/components/base/agilex 62% 0.00% ➖
go.viam.com/rdk/components/base/boat 41% 0.00% ❌
go.viam.com/rdk/components/base/wheeled 76% 0.00% ✅
go.viam.com/rdk/components/board 68% 0.00% ➖
go.viam.com/rdk/components/board/arduino 10% -0.11% ❌
go.viam.com/rdk/components/board/commonsysfs 47% 0.00% ❌
go.viam.com/rdk/components/board/fake 38% 0.00% ❌
go.viam.com/rdk/components/board/numato 19% 0.00% ❌
go.viam.com/rdk/components/board/pi 50% 0.00% ➖
go.viam.com/rdk/components/camera 66% +0.26% ➖
go.viam.com/rdk/components/camera/align 63% -0.48% ➖
go.viam.com/rdk/components/camera/fake 67% 0.00% ➖
go.viam.com/rdk/components/camera/ffmpeg 76% -1.43% ✅
go.viam.com/rdk/components/camera/transformpipeline 78% 0.00% ✅
go.viam.com/rdk/components/camera/videosource 50% +0.21% ➖
go.viam.com/rdk/components/encoder/fake 76% -1.31% ✅
go.viam.com/rdk/components/gantry 60% 0.00% ➖
go.viam.com/rdk/components/gantry/multiaxis 84% 0.00% ✅
go.viam.com/rdk/components/gantry/oneaxis 86% 0.00% ✅
go.viam.com/rdk/components/generic 83% 0.00% ✅
go.viam.com/rdk/components/gripper 68% 0.00% ➖
go.viam.com/rdk/components/input 87% 0.00% ✅
go.viam.com/rdk/components/input/gpio 84% 0.00% ✅
go.viam.com/rdk/components/motor 77% 0.00% ✅
go.viam.com/rdk/components/motor/dimensionengineering 63% 0.00% ➖
go.viam.com/rdk/components/motor/dmc4000 69% 0.00% ➖
go.viam.com/rdk/components/motor/fake 57% 0.00% ➖
go.viam.com/rdk/components/motor/gpio 62% -1.57% ➖
go.viam.com/rdk/components/motor/gpiostepper 56% -0.59% ➖
go.viam.com/rdk/components/motor/tmcstepper 62% 0.00% ➖
go.viam.com/rdk/components/movementsensor 75% 0.00% ✅
go.viam.com/rdk/components/movementsensor/cameramono 40% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsnmea 37% 0.00% ❌
go.viam.com/rdk/components/movementsensor/gpsrtk 28% 0.00% ❌
go.viam.com/rdk/components/posetracker 86% 0.00% ✅
go.viam.com/rdk/components/sensor 86% 0.00% ✅
go.viam.com/rdk/components/sensor/ultrasonic 34% 0.00% ❌
go.viam.com/rdk/components/servo 68% 0.00% ➖
go.viam.com/rdk/components/servo/gpio 71% 0.00% ✅
go.viam.com/rdk/config 76% 0.00% ✅
go.viam.com/rdk/control 57% 0.00% ➖
go.viam.com/rdk/data 79% 0.00% ✅
go.viam.com/rdk/examples/customresources/demos/complexmodule 0% 0.00% ❌
go.viam.com/rdk/examples/customresources/demos/remoteserver 0% 0.00% ❌
go.viam.com/rdk/grpc 25% 0.00% ❌
go.viam.com/rdk/ml 67% 0.00% ➖
go.viam.com/rdk/ml/inference 70% 0.00% ✅
go.viam.com/rdk/module 64% 0.00% ➖
go.viam.com/rdk/module/modmanager 79% 0.00% ✅
go.viam.com/rdk/motionplan 59% -11.45% ➖
go.viam.com/rdk/octree 98% 0.00% ✅
go.viam.com/rdk/operation 82% 0.00% ✅
go.viam.com/rdk/pointcloud 72% -0.52% ✅
go.viam.com/rdk/protoutils 59% 0.00% ➖
go.viam.com/rdk/referenceframe 70% 0.00% ✅
go.viam.com/rdk/registry 89% 0.00% ✅
go.viam.com/rdk/resource 84% 0.00% ✅
go.viam.com/rdk/rimage 78% 0.00% ✅
go.viam.com/rdk/rimage/depthadapter 94% 0.00% ✅
go.viam.com/rdk/rimage/transform 73% 0.00% ✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration 67% 0.00% ➖
go.viam.com/rdk/robot 85% 0.00% ✅
go.viam.com/rdk/robot/client 82% 0.00% ✅
go.viam.com/rdk/robot/framesystem 68% 0.00% ➖
go.viam.com/rdk/robot/impl 81% 0.00% ✅
go.viam.com/rdk/robot/server 59% +0.63% ➖
go.viam.com/rdk/robot/web 62% 0.00% ➖
go.viam.com/rdk/robot/web/stream 87% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/armremotecontrol/builtin 52% 0.00% ➖
go.viam.com/rdk/services/baseremotecontrol 71% 0.00% ✅
go.viam.com/rdk/services/baseremotecontrol/builtin 79% 0.00% ✅
go.viam.com/rdk/services/datamanager 79% 0.00% ✅
go.viam.com/rdk/services/datamanager/builtin 79% +0.91% ✅
go.viam.com/rdk/services/datamanager/datacapture 70% 0.00% ✅
go.viam.com/rdk/services/datamanager/datasync 0% 0.00% ❌
go.viam.com/rdk/services/motion 63% 0.00% ➖
go.viam.com/rdk/services/motion/builtin 88% 0.00% ✅
go.viam.com/rdk/services/navigation 53% 0.00% ➖
go.viam.com/rdk/services/sensors 77% 0.00% ✅
go.viam.com/rdk/services/sensors/builtin 97% 0.00% ✅
go.viam.com/rdk/services/shell 14% 0.00% ❌
go.viam.com/rdk/services/slam 84% 0.00% ✅
go.viam.com/rdk/services/slam/builtin 73% 0.00% ✅
go.viam.com/rdk/services/vision 80% 0.00% ✅
go.viam.com/rdk/services/vision/builtin 74% 0.00% ✅
go.viam.com/rdk/session 97% 0.00% ✅
go.viam.com/rdk/spatialmath 83% 0.00% ✅
go.viam.com/rdk/subtype 92% 0.00% ✅
go.viam.com/rdk/utils 72% -0.18% ✅
go.viam.com/rdk/vision 26% 0.00% ❌
go.viam.com/rdk/vision/chess 80% 0.00% ✅
go.viam.com/rdk/vision/delaunay 87% 0.00% ✅
go.viam.com/rdk/vision/keypoints 92% 0.00% ✅
go.viam.com/rdk/vision/objectdetection 82% 0.00% ✅
go.viam.com/rdk/vision/odometry 60% 0.00% ➖
go.viam.com/rdk/vision/odometry/cmd 0% 0.00% ❌
go.viam.com/rdk/vision/segmentation 49% 0.00% ❌
go.viam.com/rdk/web/server 25% 0.00% ❌
Summary 66% (20720 / 31630) -0.76% ➖

npmenard
npmenard reviewed Jan 4, 2023
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great work. Do you think you could add a test to test the math around computing the position?

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 5, 2023
@viambot viambot removed the safe to test This pull request is marked safe to test from a trusted zone label Jan 5, 2023
@viambot viambot added the safe to test This pull request is marked safe to test from a trusted zone label Jan 5, 2023
npmenard
npmenard approved these changes Jan 5, 2023
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LGTM!

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jan 5, 2023
@gvaradarajan gvaradarajan merged commit aa2e2fe into viamrobotics:main Jan 5, 2023
@bazile-clyde bazile-clyde mentioned this pull request Feb 7, 2023
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@gvaradarajan gvaradarajan deleted the RSDK-880-am5_encoder_driver branch April 18, 2023 14:55
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@randhid randhid randhid approved these changes

@npmenard npmenard npmenard approved these changes

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@gvaradarajan @npmenard @randhid @viambot