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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
ff03948
merged 'fast_brake' and 'brake'
Dec 19, 2024
0ce8f0f
Merge branch 'main' into hwp_fast_spindown
ykyohei May 31, 2025
85c9179
change last state to be safer, add docs
ykyohei May 31, 2025
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49 changes: 32 additions & 17 deletions socs/agents/hwp_supervisor/agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -645,6 +645,7 @@ class Brake:
freq_tol: float
freq_tol_duration: float
brake_voltage: float
fast: bool = False

@dataclass
class WaitForBrake:
Expand All @@ -656,6 +657,7 @@ class WaitForBrake:
"""
min_freq: float
prev_freq: float = None
fast: bool = False

@dataclass
class PmxOff:
Expand Down Expand Up @@ -1104,45 +1106,56 @@ def check_acu_ok_for_spinup():
self.action.set_state(ControlState.Done(success=True))

elif isinstance(state, ControlState.Brake):
pid_dir = int(query_pid_state()['direction'])
if state.fast:
# set pcu fase brake state
new_pcu_state = 'on_2' if (pid_dir == 1) else 'on_1'
min_freq = 0.2
else:
new_pcu_state = 'off'
min_freq = 0.5
self.run_and_validate(
clients.pcu.send_command,
kwargs={'command': 'off'}, timeout=None
kwargs={'command': new_pcu_state}, timeout=None
)

# Flip PID direciton and tune stop
pid_dir = int(query_pid_state()['direction'])
new_d = '0' if (pid_dir == 1) else '1'
self.run_and_validate(clients.pid.set_direction,
kwargs=dict(direction=new_d))
self.run_and_validate(clients.pid.tune_stop)

if not state.fast:
# Flip PID direciton and tune stop
new_d = '0' if (pid_dir == 1) else '1'
self.run_and_validate(clients.pid.set_direction,
kwargs=dict(direction=new_d))
self.run_and_validate(clients.pid.tune_stop)
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.WaitForBrake(
min_freq=0.5,
min_freq=min_freq,
prev_freq=hwp_state.enc_freq,
fast=state.fast
))

elif isinstance(state, ControlState.WaitForBrake):
f0 = query_pid_state()['current_freq']
time.sleep(5)
f1 = query_pid_state()['current_freq']
if f0 < 0.5 or (f1 > f0):
if f0 < state.min_freq 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
)
self.action.set_state(ControlState.WaitForTargetFreq(
target_freq=0,
freq_tol=0.05,
freq_tol_duration=30,
))
return
if state.fast:
time.sleep(5)
return
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else:
self.action.set_state(ControlState.WaitForTargetFreq(
target_freq=0,
freq_tol=0.05,
freq_tol_duration=30,
))
return

elif isinstance(state, ControlState.EnableDriverBoard):
def set_outlet_state(outlet: int, outlet_state: bool):
Expand Down Expand Up @@ -1549,6 +1562,7 @@ 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 @@ -1582,6 +1596,7 @@ def brake(self, session, params):
freq_tol=params['freq_tol'],
freq_tol_duration=params['freq_tol_duration'],
brake_voltage=params['brake_voltage'],
fast=params['fast']
)
action = self.control_state_machine.request_new_action(state)
action.sleep_until_complete(session=session)
Expand Down