Pr speedup filtewheel #485
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Optimize filter wheel movement performance for both W and W2 axes: - Reduce position check interval: 10ms -> 5ms - Increase max velocity: 3.19 -> 5.0 mm/s - Increase max acceleration: 300 -> 500 mm/s² - Reduce microstepping: 64 -> 16 (higher torque) - Add trapezoidal ramp function (reserved for future use) Test results: - Baseline: 183.85 ms avg, 5.4 moves/s - Optimized: 116.33 ms avg, 8.6 moves/s - Improvement: 36.7% faster, 59% higher throughput Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Add a test script to measure W axis movement performance: - Measures move time, wait time, and total time per operation - Supports configurable number of positions and test cycles - Reports throughput statistics (moves/s) - Optional variable distance test mode Usage: cd software python tools/w_axis_timing.py --count 10 --verbose Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Hardware optimization: - Reduce microstepping from 16 to 8 for additional 8% speed improvement - Total hardware optimization: 44.4% faster (183.85ms -> 102.18ms) Software optimization: - Implement shortest path algorithm in SquidFilterWheel._move_to_position() - Choose between clockwise and counter-clockwise based on fewer steps - Test results: - Random access: 20.2% time saved, 35.7% steps saved - Worst case (0<->7): 44.9% time saved, 75.0% steps saved New test tools: - w_axis_timing.py: Add --shortest_path_test for comparison testing - w_axis_precision.py: New precision/drift test script - test_shortest_path.py: Algorithm verification without hardware Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
- Apply black formatting to test scripts - Add w_axis_random_test.py for random position testing with comparison mode Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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Increase the running efficiency of the filter wheel from two primary aspects: (1) optimization of control parameters, and (2) correction of the optimal path trajectory.