Mechanisms (fluidics/iris) MVP implementation

[hrszpuk]

Description

Before integrating the mechanisms node (fluidics/iris) into the rest of the subsystem, the full functionality of the subsystems needs to be implemented first. After the core functionality as been implemented, the code and set up can be integrated into the rest of the computer system.

The aim of the subsystem is to successfully move the RNAlater into the flasks and to successfully open & close the iris shutter. A checklist for implementing these, including tasks leading up to achieving the aims (which are optional) have been provided below.

After the aims have been implemented, the code will be taken, split into FreeRTOS tasks, and adapted to work with the rest of the computer system's code base and libraries.

You may implement the subsystem functionality however you wish, however C on an ESP32 will be the easiest to integrate with the rest of the computer system.

Checklist

• Fluidics:

  • Wire up motor, motor driver, and MCU/SBC
  • Program basic movement on the motor (pulse steps once a second to get it to move)
  • Program the motor to push the syringe
  • Program the motor to push RNAlater out of the syringe (test? This may be expensive double check with team leads)

• Iris:

  • Move the motor enough to close the iris (tested with 3D printed part)
  • Move the motor enough to open the iris (tested with 3D printed part)

Resources/Leads

• Check data sheet for the motor, always helpful
• https://www.klipper3d.org/TMC_Drivers.html
• It has a UART speed controller that could be helpful (hasn't been investigated)