• Library Information

• Background

• Host Computer Setup

Library Information

• Name: ClusterController
• Version: 4.0.0
• License: BSD
• URL: https://github.com/janelia-arduino/ClusterController
• Author: Peter Polidoro
• Email: [email protected]
• PCB: https://github.com/janelia-kicad/cluster-pcb

Description

Firmware for each cluster of prisms in the Voigts Lab honeycomb maze.

Protocol

• protocol-version = 0x04
• prism-count = 7
• command = protocol-version command-length command-number command-parameters
• response = protocol-version response-length command-number response-parameters
• duration units = ms
• position units = mm
• velocity units = mm/s
• current units = percent
• stall-threshold -> higher value = lower sensitivity, 0 indifferent value, 1..63 less sensitivity, -1..-64 higher sensitivity
• home-parameters = travel-limit, max-velocity, run-current, stall-threshold
• controller-parameters = start-velocity, stop-velocity, first-velocity, max-velocity, first-acceleration, max-acceleration, max-deceleration, first-deceleration
• double-position = position-0, position-1

command-name	command-format	command-length	command-number	command-parameters	response-format	response-length	response-parameters
invalid-command					'<BBB'	3	0xEE
read-cluster-address	'<BBB'	3	0x01		'<BBBB'	4	0x00..0xFF
communicating-cluster	'<BBB'	3	0x02		'<BBBL'	7	0x12345678
reset-cluster	'<BBB'	3	0x03		'<BBB'	3
beep-cluster	'<BBBH'	5	0x04	duration	'<BBB'	3
led-off-cluster	'<BBB'	3	0x05		'<BBB'	3
led-on-cluster	'<BBB'	3	0x06		'<BBB'	3
power-off-cluster	'<BBB'	3	0x07		'<BBB'	3
power-on-cluster	'<BBB'	3	0x08		'<BBB'	3
home-prism	'<BBBBHBBb'	9	0x09	prism-address, home-parameters	'<BBBB'	4	prism-address
home-cluster	'<BBBHBBb'	8	0x0A	home-parameters	'<BBB'	3
homed-cluster	'<BBB'	3	0x0B		'<BBBBBBBBBB'	10	0..1[prism-count]
write-target-prism	'<BBBBH'	6	0x0C	prism-address, position	'<BBBB'	4	prism-address
write-targets-cluster	'<BBBHHHHHHH'	17	0x0D	position[prism-count]	'<BBB'	3
pause-prism	'<BBBB'	4	0x0E	prism-address	'<BBBB'	4	prism-address
pause-cluster	'<BBB'	3	0x0F		'<BBB'	3
resume-prism	'<BBBB'	4	0x10	prism-address	'<BBBB'	4	prism-address
resume-cluster	'<BBB'	3	0x11		'<BBB'	3
read-positions-cluster	'<BBB'	3	0x12		'<BBBhhhhhhh'	17	-1..32767[prism-count]
write-run-current-cluster	'<BBBB'	4	0x13	run-current	'<BBB'	3
read-run-current-cluster	'<BBB'	3	0x14		'<BBBB'	4	run-current
write-controller-parameters-cluster	'<BBBBBBBBBBB'	11	0x15	controller-parameters	'<BBB'	3
read-controller-parameters-cluster	'<BBB'	3	0x16		'<BBBBBBBBBBB'	11	controller-parameters
write-double-target-prism	'<BBBBHH'	8	0x17	prism-address, double-position	'<BBBB'	4	prism-address
write-double-targets-cluster	'<BBBHHHHHHHHHHHHHH'	31	0x18	double-position[prism-count]	'<BBB'	3

Background

Host Computer Setup

Download this repository

https://github.com/janelia-arduino/ClusterController.git

git clone https://github.com/janelia-arduino/ClusterController.git

PlatformIO

Install PlatformIO Core

https://docs.platformio.org/en/latest/core/installation/index.html

python3 -m venv .venv
source .venv/bin/activate
pip install platformio
pio --version

99-platformio-udev.rules

Linux users have to install udev rules for PlatformIO supported boards/devices.

1. Download udev rules file to /etc/udev/rules.d

   curl -fsSL https://raw.githubusercontent.com/platformio/platformio-core/develop/platformio/assets/system/99-platformio-udev.rules | sudo tee /etc/udev/rules.d/99-platformio-udev.rules

2. Restart udev management tool

   sudo service udev restart

3. Add user to groups

   sudo usermod -a -G dialout $USER && sudo usermod -a -G plugdev $USER

4. Remove modemmanager

   sudo apt-get purge --auto-remove modemmanager

5. After setting up rules and groups

   You will need to log out and log back in again (or reboot) for the user group changes to take effect.

   After this file is installed, physically unplug and reconnect your board.

Compile the firmware

1. Gnu/Linux

   make firmware

2. Other

   pio run -e pico

Upload the firmware

1. Gnu/Linux

   make upload

2. Other

   pio run -e pico -t upload

Serial Terminal Monitor

1. Gnu/Linux

   make monitor

2. Other

   pio device monitor --echo --eol=LF

Arduino Ide

Download

https://www.arduino.cc/en/software

Additional Boards Manager URLs

File > Preferences

https://github.com/earlephilhower/arduino-pico/releases/download/global/package_rp2040_index.json

Add Board Support Packages

• Raspberry Pi Pico/RP2040 by Earle F Philhower, III