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Add fast_brake command for HWP rapid spindown #787

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Add fast_brake command for HWP rapid spindown #787

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e179461
add fast_brake command for rapid dpindown
17-sugiyama Oct 30, 2024
3eef07c
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Oct 30, 2024
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74 changes: 69 additions & 5 deletions socs/agents/hwp_supervisor/agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -657,6 +657,26 @@ class WaitForBrake:
min_freq: float
prev_freq: float = None

@dataclass
class FastBrake:
"""
Configure the PID and PCU agents to more actively brake the HWP
"""
freq_tol: float
freq_tol_duration: float
brake_voltage: float

@dataclass
class WaitForFastBrake:
"""
Waits until the HWP has slowed down enough before shutting off PMX.

min_freq : float
Frequency (Hz) below which the PMX should be shut off.
"""
min_freq: float
prev_freq: float = None

@dataclass
class PmxOff:
"""
Expand Down Expand Up @@ -1143,6 +1163,42 @@ def check_acu_ok_for_spinup():
freq_tol_duration=30,
))
return
elif isinstance(state, ControlState.FastBrake):
# Flip PID direciton and tune stop
pid_dir = int(query_pid_state()['direction'])
if pid_dir == 1:
self.run_and_validate(
clients.pcu.send_command,
kwargs={'command': 'on_2'}, timeout=None
)
else:
self.run_and_validate(
clients.pcu.send_command,
kwargs={'command': 'on_1'}, timeout=None
)
self.run_and_validate(clients.pmx.ign_ext)
self.run_and_validate(clients.pmx.set_v, kwargs={'volt': state.brake_voltage})
self.run_and_validate(clients.pmx.set_on)

time.sleep(10)
self.action.set_state(ControlState.WaitForFastBrake(
min_freq=0.2,
prev_freq=hwp_state.enc_freq,
))

elif isinstance(state, ControlState.WaitForFastBrake):
f0 = query_pid_state()['current_freq']
time.sleep(5)
f1 = query_pid_state()['current_freq']
if f0 < 0.2 or (f1 > f0):
self.log.info("Turning off PMX and putting PCU in stop mode")
self.run_and_validate(clients.pmx.set_off)
self.run_and_validate(
clients.pcu.send_command,
kwargs={'command': 'stop'}, timeout=None
)
time.sleep(5)
return
Comment on lines +1189 to +1201
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This block of code seems largely similar to the block of code handling ControlState.WaitForBrake in lines 1149-1165, with the only difference being that this block doesn't wait for the rotor to completely spin down. It might be simpler to add a boolean attribute to ControlState.WaitForBrake named fast which determines whether or not to run lines 1160-1164.

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Also whenever the ControlState.WaitForFastBrake finishes, it should set the state to ControlState.Done


elif isinstance(state, ControlState.EnableDriverBoard):
def set_outlet_state(outlet: int, outlet_state: bool):
Expand Down Expand Up @@ -1549,6 +1605,7 @@ def set_const_voltage(self, session, params):
@ocs_agent.param('freq_tol', type=float, default=0.05)
@ocs_agent.param('freq_tol_duration', type=float, default=10)
@ocs_agent.param('brake_voltage', type=float, default=10.)
@ocs_agent.param('fast', type=bool, default=False)
def brake(self, session, params):
"""brake(freq_thresh=0.05, freq_thresh_duration=10, brake_voltage=10)

Expand Down Expand Up @@ -1578,11 +1635,18 @@ def brake(self, session, params):
'success': True}
}
"""
state = ControlState.Brake(
freq_tol=params['freq_tol'],
freq_tol_duration=params['freq_tol_duration'],
brake_voltage=params['brake_voltage'],
)
if params['fast']:
state = ControlState.FastBrake(
freq_tol=params['freq_tol'],
freq_tol_duration=params['freq_tol_duration'],
brake_voltage=30.,
)
else:
state = ControlState.Brake(
freq_tol=params['freq_tol'],
freq_tol_duration=params['freq_tol_duration'],
brake_voltage=params['brake_voltage'],
)
action = self.control_state_machine.request_new_action(state)
action.sleep_until_complete(session=session)
return action.success, f"Completed with state: {action.cur_state_info.state}"
Expand Down