FatigueTest::FatigueTestMotion Class Reference

Unified fatigue test motion controller. More...

#include <fatigue_motion.hpp>

Collaboration diagram for FatigueTest::FatigueTestMotion:

Classes
struct	Status
	Status structure containing current motion controller state. More...

Public Member Functions
	FatigueTestMotion (tmc51x0::TMC51x0< Esp32SPI > *driver, Esp32TmcMutex &driver_mutex) noexcept
	Construct a motion controller bound to a TMC51x0 driver instance.
	~FatigueTestMotion () noexcept
	Destructor.
void	SetGlobalBounds (float min_bound_degrees, float max_bound_degrees) noexcept
	Set global (hardware) bounds in degrees.
void	GetGlobalBoundsDegrees (float &min_degrees, float &max_degrees) const noexcept
	Read current global bounds (degrees).
void	SetUnbounded (float current_position_degrees, float default_range_degrees=175.0f) noexcept
	Mark the system as unbounded and establish a default travel window.
bool	SetLocalBoundsFromCenterDegrees (float min_degrees_from_center, float max_degrees_from_center, float edge_backoff_deg=3.5f) noexcept
	Set local oscillation bounds (degrees) relative to the center.
void	GetLocalBoundsFromCenterDegrees (float &min_degrees, float &max_degrees) const noexcept
	Read local bounds (degrees).
bool	SetMaxVelocity (float vmax_rpm) noexcept
	Set maximum velocity for oscillation (direct TMC5160 VMAX control).
float	GetMaxVelocity () const noexcept
	Get configured maximum velocity (RPM).
bool	SetAcceleration (float amax_rev_s2) noexcept
	Set acceleration for oscillation (direct TMC5160 AMAX control).
float	GetAcceleration () const noexcept
	Get configured acceleration (rev/s²).
float	GetEstimatedCycleFrequency () const noexcept
	Get estimated cycle frequency based on current velocity/accel/distance.
bool	SetDwellTimes (uint32_t dwell_at_min_ms, uint32_t dwell_at_max_ms) noexcept
	Set dwell times at local bounds.
void	GetDwellTimes (uint32_t &dwell_at_min_ms, uint32_t &dwell_at_max_ms) const noexcept
	Get dwell times at local bounds.
bool	SetTargetCycles (uint32_t cycles) noexcept
	Set target cycle count (0 = infinite).
uint32_t	GetCurrentCycles () const noexcept
	Get current completed cycles.
uint32_t	GetTargetCycles () const noexcept
	Get configured target cycles.
bool	IsCycleComplete () const noexcept
	Check whether the configured target cycle count has been reached.
void	ResetCycles () noexcept
	Reset cycle counter and completion flags.
bool	Start () noexcept
	Start active motion.
void	Pause () noexcept
	Pause active motion (stops movement but keeps motor energized for resume).
void	Stop () noexcept
	Stop active motion and command driver stop.
bool	IsRunning () const noexcept
	Whether the motion controller is currently active.
void	Update () noexcept
	Periodic update tick.
Status	GetStatus () const noexcept
	Snapshot current controller status.
bool	IsBounded () const noexcept
	Whether the controller is in bounded mode (mechanical stops found).

Private Types
enum class	MotionState {   MOVING_TO_MIN , MOVING_TO_MAX , DWELL_AT_MIN , DWELL_AT_MAX ,   PAUSED , STOPPED }

Private Member Functions
void	RecalculateEstimatedFrequency () noexcept
void	ClipLocalBoundsToGlobal () noexcept

Private Attributes
tmc51x0::TMC51x0< Esp32SPI > *	driver_
float	global_min_bound_
float	global_max_bound_
float	local_min_bound_
float	local_max_bound_
float	home_position_
bool	bounded_
float	amplitude_
float	vmax_rpm_
float	amax_rev_s2_
uint32_t	dwell_at_min_ms_
uint32_t	dwell_at_max_ms_
bool	running_
uint64_t	start_time_us_
uint32_t	target_cycles_
uint32_t	current_cycles_
bool	cycle_complete_
MotionState	state_
uint32_t	dwell_start_time_ms_
float	estimated_frequency_hz_
Esp32TmcMutex &	driver_mutex_

Detailed Description

Unified fatigue test motion controller.

Provides point-to-point back-and-forth motion between bounds for fatigue testing. Supports global bounds (hardware limits) and local bounds (oscillation range).

Member Enumeration Documentation

MotionState

enum class FatigueTest::FatigueTestMotion::MotionState

strongprivate

Enumerator
MOVING_TO_MIN
MOVING_TO_MAX
DWELL_AT_MIN
DWELL_AT_MAX
PAUSED
STOPPED

Constructor & Destructor Documentation

FatigueTestMotion()

FatigueTest::FatigueTestMotion::FatigueTestMotion ( tmc51x0::TMC51x0< Esp32SPI > * driver, Esp32TmcMutex & driver_mutex )

noexcept

Construct a motion controller bound to a TMC51x0 driver instance.

Parameters

driver	Pointer to an initialized driver (must remain valid for the lifetime of this object).
driver_mutex	Reference to a mutex that protects ALL driver SPI access. This same mutex must be used by any code that directly accesses the driver.

Note

Thread safety: The provided mutex is used to serialize all SPI transactions. Callers MUST use the same mutex for any direct driver access outside this class.

~FatigueTestMotion()

FatigueTest::FatigueTestMotion::~FatigueTestMotion ( )

defaultnoexcept

Destructor.

Note

Does not implicitly stop the motor; callers should call Stop() as part of application shutdown/state transitions.

Member Function Documentation

ClipLocalBoundsToGlobal()

void FatigueTest::FatigueTestMotion::ClipLocalBoundsToGlobal ( )

privatenoexcept

GetAcceleration()

float FatigueTest::FatigueTestMotion::GetAcceleration ( ) const

noexcept

Get configured acceleration (rev/s²).

GetCurrentCycles()

uint32_t FatigueTest::FatigueTestMotion::GetCurrentCycles ( ) const

noexcept

Get current completed cycles.

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GetDwellTimes()

void FatigueTest::FatigueTestMotion::GetDwellTimes ( uint32_t & dwell_at_min_ms, uint32_t & dwell_at_max_ms ) const

noexcept

Get dwell times at local bounds.

Parameters

dwell_at_min_ms	Output dwell at min (ms).
dwell_at_max_ms	Output dwell at max (ms).

GetEstimatedCycleFrequency()

float FatigueTest::FatigueTestMotion::GetEstimatedCycleFrequency ( ) const

noexcept

Get estimated cycle frequency based on current velocity/accel/distance.

Returns

Estimated frequency in Hz (informational only).

Note

This is derived from the motion parameters, not a setpoint.

GetGlobalBoundsDegrees()

void FatigueTest::FatigueTestMotion::GetGlobalBoundsDegrees ( float & min_degrees, float & max_degrees ) const

noexcept

Read current global bounds (degrees).

Parameters

min_degrees	Output min bound.
max_degrees	Output max bound.

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GetLocalBoundsFromCenterDegrees()

void FatigueTest::FatigueTestMotion::GetLocalBoundsFromCenterDegrees ( float & min_degrees, float & max_degrees ) const

noexcept

Read local bounds (degrees).

Parameters

min_degrees	Output min local bound.
max_degrees	Output max local bound.

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GetMaxVelocity()

float FatigueTest::FatigueTestMotion::GetMaxVelocity ( ) const

noexcept

Get configured maximum velocity (RPM).

GetStatus()

FatigueTestMotion::Status FatigueTest::FatigueTestMotion::GetStatus ( ) const

noexcept

Snapshot current controller status.

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GetTargetCycles()

uint32_t FatigueTest::FatigueTestMotion::GetTargetCycles ( ) const

noexcept

Get configured target cycles.

IsBounded()

bool FatigueTest::FatigueTestMotion::IsBounded ( ) const

noexcept

Whether the controller is in bounded mode (mechanical stops found).

IsCycleComplete()

bool FatigueTest::FatigueTestMotion::IsCycleComplete ( ) const

noexcept

Check whether the configured target cycle count has been reached.

IsRunning()

bool FatigueTest::FatigueTestMotion::IsRunning ( ) const

noexcept

Whether the motion controller is currently active.

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Pause()

void FatigueTest::FatigueTestMotion::Pause ( )

noexcept

Pause active motion (stops movement but keeps motor energized for resume).

Sets ramp mode to HOLD to maintain position. Motion can be resumed with Start().

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RecalculateEstimatedFrequency()

void FatigueTest::FatigueTestMotion::RecalculateEstimatedFrequency ( )

privatenoexcept

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ResetCycles()

void FatigueTest::FatigueTestMotion::ResetCycles ( )

noexcept

Reset cycle counter and completion flags.

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SetAcceleration()

bool FatigueTest::FatigueTestMotion::SetAcceleration ( float amax_rev_s2 )

noexcept

Set acceleration for oscillation (direct TMC5160 AMAX control).

Parameters

amax_rev_s2

Acceleration in rev/s².

Returns

true if accepted (value clamped to safe limits).

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SetDwellTimes()

bool FatigueTest::FatigueTestMotion::SetDwellTimes ( uint32_t dwell_at_min_ms, uint32_t dwell_at_max_ms )

noexcept

Set dwell times at local bounds.

Parameters

dwell_at_min_ms	Dwell at min (ms).
dwell_at_max_ms	Dwell at max (ms).

Returns

true if accepted; false otherwise.

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SetGlobalBounds()

void FatigueTest::FatigueTestMotion::SetGlobalBounds ( float min_bound_degrees, float max_bound_degrees )

noexcept

Set global (hardware) bounds in degrees.

These bounds represent the full allowed travel range and are typically produced by bounds finding.

Parameters

min_bound_degrees	Minimum bound (degrees).
max_bound_degrees	Maximum bound (degrees).

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SetLocalBoundsFromCenterDegrees()

bool FatigueTest::FatigueTestMotion::SetLocalBoundsFromCenterDegrees ( float min_degrees_from_center, float max_degrees_from_center, float edge_backoff_deg = 3.5f )

noexcept

Set local oscillation bounds (degrees) relative to the center.

Local bounds are clipped to global bounds (if bounded) and define the oscillation range. An optional edge_backoff_deg parameter specifies how far inside the mechanical bounds to stay during oscillation.

Parameters

min_degrees_from_center	Minimum local bound.
max_degrees_from_center	Maximum local bound.
edge_backoff_deg	How far inside bounds to stay (default 3.5°, like bounds_finding_test).

Returns

true if accepted; false if rejected.

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SetMaxVelocity()

bool FatigueTest::FatigueTestMotion::SetMaxVelocity ( float vmax_rpm )

noexcept

Set maximum velocity for oscillation (direct TMC5160 VMAX control).

Parameters

vmax_rpm

Maximum velocity in RPM.

Returns

true if accepted (value clamped to safe limits).

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SetTargetCycles()

bool FatigueTest::FatigueTestMotion::SetTargetCycles ( uint32_t cycles )

noexcept

Set target cycle count (0 = infinite).

Parameters

cycles

Target cycles.

Returns

true if accepted.

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SetUnbounded()

void FatigueTest::FatigueTestMotion::SetUnbounded ( float current_position_degrees, float default_range_degrees = 175.0f )

noexcept

Mark the system as unbounded and establish a default travel window.

Used when no mechanical stops are detected. Sets a default global range around the current position and establishes home/zero at the current position.

Parameters

current_position_degrees	Current position (degrees).
default_range_degrees	Default travel range to assume (degrees).

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Start()

bool FatigueTest::FatigueTestMotion::Start ( )

noexcept

Start active motion.

Requires local bounds to be set. Configures the driver for positioning mode.

Returns

true on success; false on failure (e.g., bounds not set, driver not standstill).

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Stop()

void FatigueTest::FatigueTestMotion::Stop ( )

noexcept

Stop active motion and command driver stop.

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Update()

void FatigueTest::FatigueTestMotion::Update ( )

noexcept

Periodic update tick.

Intended to be called from a periodic task. Generates and applies updated target positions and handles dwell/cycle completion logic.

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Member Data Documentation

amax_rev_s2_

float FatigueTest::FatigueTestMotion::amax_rev_s2_

private

amplitude_

float FatigueTest::FatigueTestMotion::amplitude_

private

bounded_

bool FatigueTest::FatigueTestMotion::bounded_

private

current_cycles_

uint32_t FatigueTest::FatigueTestMotion::current_cycles_

private

cycle_complete_

bool FatigueTest::FatigueTestMotion::cycle_complete_

private

driver_

tmc51x0::TMC51x0<Esp32SPI>* FatigueTest::FatigueTestMotion::driver_

private

driver_mutex_

Esp32TmcMutex& FatigueTest::FatigueTestMotion::driver_mutex_

private

dwell_at_max_ms_

uint32_t FatigueTest::FatigueTestMotion::dwell_at_max_ms_

private

dwell_at_min_ms_

uint32_t FatigueTest::FatigueTestMotion::dwell_at_min_ms_

private

dwell_start_time_ms_

uint32_t FatigueTest::FatigueTestMotion::dwell_start_time_ms_

private

estimated_frequency_hz_

float FatigueTest::FatigueTestMotion::estimated_frequency_hz_

private

global_max_bound_

float FatigueTest::FatigueTestMotion::global_max_bound_

private

global_min_bound_

float FatigueTest::FatigueTestMotion::global_min_bound_

private

home_position_

float FatigueTest::FatigueTestMotion::home_position_

private

local_max_bound_

float FatigueTest::FatigueTestMotion::local_max_bound_

private

local_min_bound_

float FatigueTest::FatigueTestMotion::local_min_bound_

private

running_

bool FatigueTest::FatigueTestMotion::running_

private

start_time_us_

uint64_t FatigueTest::FatigueTestMotion::start_time_us_

private

state_

MotionState FatigueTest::FatigueTestMotion::state_

private

target_cycles_

uint32_t FatigueTest::FatigueTestMotion::target_cycles_

private

vmax_rpm_

float FatigueTest::FatigueTestMotion::vmax_rpm_

private

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The documentation for this class was generated from the following files:

• fatigue_motion.hpp
• fatigue_motion_impl.hpp