Week 1
Josue developed the complete two-axis motion control software, including Modbus TCP communication, acceleration/deceleration motion planning, operation sequencing, and end-effector control. The software architecture grew to approximately 1,200 lines across 23 files. However, although the motion control stack had been implemented, the stepper motor pulse generation had not yet been validated on the actual hardware.
This week, the stepper driver was successfully tested and confirmed to generate pulses at the correct frequency and timing. A critical race condition affecting the channel arm/disarm logic was identified and corrected, and the driver now supports both position and velocity control through a unified speed-ramp interface. Temporary motion-control workarounds were also replaced with production-ready abstractions, while the existing motion planner and sequencer required no major changes. Emergency-stop and start-button inputs were integrated into the sequencer, and its internal state logic was simplified to improve reliability and maintainability.
Adriano focused on gathering and organizing the mechanical components required for the system. He ordered most of the necessary parts online, reviewed the dimensions, and began assembling the main aluminum frame. Initial measurements were taken to verify the overall structure and ensure the components could be positioned correctly before continuing with the final assembly.
Over the weekend, he continued working on the mechanical structure by cutting excess aluminum extrusion and resizing sections of the frame to the required dimensions. He also began attaching the linear rails to the main frame, establishing the mechanical foundation that will support the motion system and the remaining components.
