feat(hardware): update Gripper CAN messages (Opentrons#10161)

alexjoel42 · May 2, 2022 · cfd2a33 · cfd2a33
1 parent 6b77e75
commit cfd2a33
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Showing 5 changed files with 93 additions and 11 deletions.
diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py b/hardware/opentrons_hardware/firmware_bindings/messages/message_definitions.py
@@ -446,12 +446,16 @@ class SetBrushedMotorPwmRequest:  # noqa: D101
 
 
 @dataclass
-class GripperGripRequest(EmptyPayloadMessage):  # noqa: D101
+class GripperGripRequest:  # noqa: D101
+    payload: payloads.GripperMoveRequestPayload
+    payload_type: Type[BinarySerializable] = payloads.GripperMoveRequestPayload
     message_id: Literal[MessageId.gripper_grip_request] = MessageId.gripper_grip_request
 
 
 @dataclass
-class GripperHomeRequest(EmptyPayloadMessage):  # noqa: D101
+class GripperHomeRequest:  # noqa: D101
+    payload: payloads.GripperMoveRequestPayload
+    payload_type: Type[BinarySerializable] = payloads.GripperMoveRequestPayload
     message_id: Literal[MessageId.gripper_home_request] = MessageId.gripper_home_request
 
 

diff --git a/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py b/hardware/opentrons_hardware/firmware_bindings/messages/payloads.py
@@ -401,6 +401,15 @@ class GripperInfoResponsePayload(utils.BinarySerializable):
     gripper_serial: GripperSerialField
 
 
+@dataclass
+class GripperMoveRequestPayload(AddToMoveGroupRequestPayload):
+    """A request to move gripper."""
+
+    freq: utils.UInt32Field
+    duty_cycle: utils.UInt32Field
+
+
+@dataclass
 class TipActionRequestPayload(AddToMoveGroupRequestPayload):
     """A request to perform a tip action."""
 

diff --git a/hardware/opentrons_hardware/hardware_control/gripper_settings.py b/hardware/opentrons_hardware/hardware_control/gripper_settings.py
@@ -7,7 +7,7 @@
     GripperGripRequest,
     GripperHomeRequest,
 )
-from opentrons_hardware.firmware_bindings.utils import UInt32Field
+from opentrons_hardware.firmware_bindings.utils import UInt8Field, UInt32Field
 from opentrons_hardware.firmware_bindings.constants import NodeId
 
 
@@ -42,11 +42,37 @@ async def set_pwm_param(
     )
 
 
-async def grip(can_messenger: CanMessenger) -> None:
+async def grip(
+    can_messenger: CanMessenger, group_id: int, seq_id: int, freq: int, duty_cycle: int
+) -> None:
     """Start grip motion."""
-    await can_messenger.send(node_id=NodeId.gripper, message=GripperGripRequest())
+    await can_messenger.send(
+        node_id=NodeId.gripper,
+        message=GripperGripRequest(
+            payload=payloads.GripperMoveRequestPayload(
+                group_id=UInt8Field(group_id),
+                seq_id=UInt8Field(seq_id),
+                duration=UInt32Field(0),
+                freq=UInt32Field(freq),
+                duty_cycle=UInt32Field(duty_cycle),
+            )
+        ),
+    )
 
 
-async def home(can_messenger: CanMessenger) -> None:
+async def home(
+    can_messenger: CanMessenger, group_id: int, seq_id: int, freq: int, duty_cycle: int
+) -> None:
     """Start home motion."""
-    await can_messenger.send(node_id=NodeId.gripper, message=GripperHomeRequest())
+    await can_messenger.send(
+        node_id=NodeId.gripper,
+        message=GripperHomeRequest(
+            payload=payloads.GripperMoveRequestPayload(
+                group_id=UInt8Field(group_id),
+                seq_id=UInt8Field(seq_id),
+                duration=UInt32Field(0),
+                freq=UInt32Field(freq),
+                duty_cycle=UInt32Field(duty_cycle),
+            )
+        ),
+    )
diff --git a/hardware/opentrons_hardware/scripts/gripper.py b/hardware/opentrons_hardware/scripts/gripper.py
@@ -6,9 +6,11 @@
 
 from typing import Callable
 from logging.config import dictConfig
+from opentrons_hardware.firmware_bindings.messages import payloads
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
     SetupRequest,
     DisableMotorRequest,
+    ExecuteMoveGroupRequest,
 )
 from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
 from opentrons_hardware.firmware_bindings.constants import NodeId
@@ -20,6 +22,8 @@
     grip,
     home,
 )
+from opentrons_hardware.firmware_bindings.utils import UInt8Field
+
 
 GetInputFunc = Callable[[str], str]
 OutputFunc = Callable[[str], None]
@@ -56,6 +60,20 @@ def in_green(s: str) -> str:
     return f"\033[92m{str(s)}\033[0m"
 
 
+async def execute_move(messenger: CanMessenger) -> None:
+    """Send an execute move command."""
+    await messenger.send(
+        node_id=NodeId.broadcast,
+        message=ExecuteMoveGroupRequest(
+            payload=payloads.ExecuteMoveGroupRequestPayload(
+                group_id=UInt8Field(0),
+                start_trigger=UInt8Field(0),
+                cancel_trigger=UInt8Field(0),
+            )
+        ),
+    )
+
+
 def output_details(i: int, freq: int, duty_cycle: int, v_ref: float) -> None:
     """Print out test details."""
     print(f"\n\033[95mRound {i}:\033[0m")
@@ -88,11 +106,13 @@ async def run(args: argparse.Namespace) -> None:
 
             input(in_green("Press Enter to grip...\n"))
 
-            await grip(messenger)
+            await grip(messenger, 0, 0, 0, 0)
+            await execute_move(messenger)
 
             input(in_green("Press Enter to release...\n"))
 
-            await home(messenger)
+            await home(messenger, 0, 0, 0, 0)
+            await execute_move(messenger)
 
     except asyncio.CancelledError:
         pass

diff --git a/hardware/opentrons_hardware/scripts/gripper_currents.py b/hardware/opentrons_hardware/scripts/gripper_currents.py
@@ -9,6 +9,10 @@
 from opentrons_hardware.firmware_bindings.messages.message_definitions import (
     SetupRequest,
     DisableMotorRequest,
+    ExecuteMoveGroupRequest,
+)
+from opentrons_hardware.firmware_bindings.messages.payloads import (
+    ExecuteMoveGroupRequestPayload,
 )
 from opentrons_hardware.drivers.can_bus.can_messenger import CanMessenger
 from opentrons_hardware.firmware_bindings.constants import NodeId
@@ -20,6 +24,9 @@
     grip,
     home,
 )
+from opentrons_hardware.firmware_bindings.utils import (
+    UInt8Field,
+)
 
 GetInputFunc = Callable[[str], str]
 OutputFunc = Callable[[str], None]
@@ -52,6 +59,20 @@ def in_green(s: str) -> str:
     return f"\033[92m{str(s)}\033[0m"
 
 
+async def execute_move(messenger: CanMessenger) -> None:
+    """Send an execute move command."""
+    await messenger.send(
+        node_id=NodeId.broadcast,
+        message=ExecuteMoveGroupRequest(
+            payload=ExecuteMoveGroupRequestPayload(
+                group_id=UInt8Field(0),
+                start_trigger=UInt8Field(0),
+                cancel_trigger=UInt8Field(0),
+            )
+        ),
+    )
+
+
 async def run(args: argparse.Namespace) -> None:
     """Entry point for script."""
     os.system("cls")
@@ -80,11 +101,13 @@ async def run(args: argparse.Namespace) -> None:
 
             input(in_green("Press Enter to grip...\n"))
 
-            await grip(messenger)
+            await grip(messenger, 0, 0, 0, 0)
+            await execute_move(messenger)
 
             input(in_green("Press Enter to release...\n"))
 
-            await home(messenger)
+            await home(messenger, 0, 0, 0, 0)
+            await execute_move(messenger)
 
     except asyncio.CancelledError:
         pass