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feat: enable encoder closed-loop PID for filter wheel W/W2 #542

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feat: enable encoder closed-loop PID for filter wheel W/W2 #542

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122aefd
feat: enable encoder closed-loop PID for filter wheel W/W2
hongquanli May 18, 2026
c54b009
test: parametrize encoder-PID tests over W and W2
hongquanli May 18, 2026
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4 changes: 2 additions & 2 deletions firmware/controller/src/commands/commands.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -132,11 +132,11 @@ void callback_configure_stage_pid()
tmc4361A_init_PID(&tmc4361[axis], 25, 25, axes_pid_arg[axis].p, axes_pid_arg[axis].i, axes_pid_arg[axis].d, tmc4361A_vmmToMicrosteps(&tmc4361[axis], MAX_VELOCITY_Z_mm), 4096, 2);
else if (axis == w) {
if (enable_filterwheel == true)
tmc4361A_init_PID(&tmc4361[axis], 2, 2, axes_pid_arg[axis].p, axes_pid_arg[axis].i, axes_pid_arg[axis].d, tmc4361A_vmmToMicrosteps(&tmc4361[axis], MAX_VELOCITY_W_mm), 4096, 2);
tmc4361A_init_PID(&tmc4361[axis], 20, 20, axes_pid_arg[axis].p, axes_pid_arg[axis].i, axes_pid_arg[axis].d, tmc4361A_vmmToMicrosteps(&tmc4361[axis], MAX_VELOCITY_W_mm), 4096, 2);
}
else if (axis == w2) {
if (enable_filterwheel_w2 == true)
tmc4361A_init_PID(&tmc4361[axis], 2, 2, axes_pid_arg[axis].p, axes_pid_arg[axis].i, axes_pid_arg[axis].d, tmc4361A_vmmToMicrosteps(&tmc4361[axis], MAX_VELOCITY_W_mm), 4096, 2);
tmc4361A_init_PID(&tmc4361[axis], 20, 20, axes_pid_arg[axis].p, axes_pid_arg[axis].i, axes_pid_arg[axis].d, tmc4361A_vmmToMicrosteps(&tmc4361[axis], MAX_VELOCITY_W_mm), 4096, 2);
}
}

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3 changes: 2 additions & 1 deletion software/squid/filter_wheel_controller/cephla.py
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Original file line number Diff line number Diff line change
Expand Up @@ -120,7 +120,8 @@ def _configure_wheel(self, wheel_id: int, config: SquidFilterWheelConfig):
if HAS_ENCODER_W:
self.microcontroller.set_pid_arguments(axis, PID_P_W, PID_I_W, PID_D_W)
self.microcontroller.configure_stage_pid(axis, config.transitions_per_revolution, ENCODER_FLIP_DIR_W)
self.microcontroller.turn_on_stage_pid(axis, ENABLE_PID_W)
if ENABLE_PID_W:
self.microcontroller.turn_on_stage_pid(axis)

@staticmethod
def _delta_to_usteps(delta_mm: float) -> int:
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28 changes: 24 additions & 4 deletions software/tests/squid/test_filter_wheel.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@

import squid.config
import squid.filter_wheel_controller.utils
from control._def import AXIS
from squid.config import FilterWheelConfig, FilterWheelControllerVariant, SquidFilterWheelConfig
from squid.filter_wheel_controller.cephla import SquidFilterWheel

Expand Down Expand Up @@ -120,14 +121,33 @@ def test_normal_init_calls_mcu_initialization(self, mock_microcontroller, squid_
mock_microcontroller.init_filter_wheel.assert_called_once()
mock_microcontroller.configure_squidfilter.assert_called_once()

@pytest.mark.parametrize(
"motor_slot,expected_axis",
[pytest.param(3, AXIS.W, id="W"), pytest.param(4, AXIS.W2, id="W2")],
)
@patch("squid.filter_wheel_controller.cephla.HAS_ENCODER_W", True)
def test_normal_init_configures_encoder_pid(self, mock_microcontroller, squid_config):
"""skip_init=False with HAS_ENCODER_W=True should configure encoder PID."""
SquidFilterWheel(mock_microcontroller, squid_config, skip_init=False)
@patch("squid.filter_wheel_controller.cephla.ENABLE_PID_W", True)
def test_normal_init_configures_encoder_pid(self, mock_microcontroller, motor_slot, expected_axis):
"""HAS_ENCODER_W=True + ENABLE_PID_W=True should configure and engage PID."""
config = _make_squid_config(motor_slot=motor_slot)
SquidFilterWheel(mock_microcontroller, config, skip_init=False)

mock_microcontroller.set_pid_arguments.assert_called_once()
mock_microcontroller.configure_stage_pid.assert_called_once()
# turn_on_stage_pid takes axis only — passing extra args would TypeError.
mock_microcontroller.turn_on_stage_pid.assert_called_once_with(expected_axis)

@pytest.mark.parametrize("motor_slot", [3, 4], ids=["W", "W2"])
@patch("squid.filter_wheel_controller.cephla.HAS_ENCODER_W", True)
@patch("squid.filter_wheel_controller.cephla.ENABLE_PID_W", False)
def test_encoder_without_pid_skips_turn_on(self, mock_microcontroller, motor_slot):
"""HAS_ENCODER_W=True + ENABLE_PID_W=False configures encoder but leaves PID off."""
config = _make_squid_config(motor_slot=motor_slot)
SquidFilterWheel(mock_microcontroller, config, skip_init=False)

mock_microcontroller.set_pid_arguments.assert_called_once()
mock_microcontroller.configure_stage_pid.assert_called_once()
mock_microcontroller.turn_on_stage_pid.assert_called_once()
mock_microcontroller.turn_on_stage_pid.assert_not_called()


class TestSquidFilterWheelAbsoluteMove:
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