Science aux cleanup by Kenou2005 · Pull Request #37 · BinghamtonRover/Science-Firmware

Kenou2005 · 2026-02-19T17:33:21Z

Science subsystem clean up for SAR

*Moved to Science-Aux

submodules

TMC-Firmware wrapper

to pinouts

(finally, pain and Agony)

Copilot

Pull request overview

This PR performs a substantial cleanup and restructuring of the Science subsystem for SAR, introducing a new Science-Aux component and updating the protocol buffer definitions. The changes modernize the hardware interface, rename components to better reflect their actual functions (e.g., "scoop" → "auger", "subsurface" → "linear_slider"), and remove deprecated functionality.

Changes:

Introduced new Science-Aux subsystem with separate hardware control (auger motors, servos, LIDAR, temperature/humidity sensor, current sensor)
Updated protocol buffer schemas to version 0.4.9.1 with new field names and Version message support
Removed deprecated components (Scooper class, temp_humidity sensor from main Science, multiple pump configurations, unused motors)

Reviewed changes

Copilot reviewed 42 out of 42 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
Science/src/version.pb.h	Added new auto-generated protocol buffer header for version tracking
Science/src/version.pb.c	Added corresponding protocol buffer implementation
Science/src/utils	Removed submodule reference
Science/src/tmc	Removed submodule reference
Science/src/temp_humidity/temp_humidity.h	Removed deprecated temperature/humidity sensor header
Science/src/temp_humidity/temp_humidity.cpp	Removed deprecated temperature/humidity sensor implementation
Science/src/scooper/scooper.h	Removed deprecated Scooper class header
Science/src/scooper/scooper.cpp	Removed deprecated Scooper class implementation
Science/src/science.pb.h	Updated protocol buffer with renamed fields and new version support
Science/src/science.pb.c	Updated protocol buffer implementation to version 0.4.9.1
Science/src/pumps/pumps.h	Updated pump pin definitions and added TODO comment
Science/src/pumps/pumps.cpp	Updated pump timing constants with descriptive comments and refined fill logic
Science/src/motors/motors.h	Removed deprecated motor references
Science/src/motors/motors.cpp	Simplified to single carousel motor with corrected method names
Science/src/co2/co2_sensor.h	Changed return type from float to int
Science/src/co2/co2_sensor.cpp	Added calibration offset and fixed increment operator
Science/src/carousel/carousel.h	Removed servo-related functionality
Science/src/carousel/carousel.cpp	Removed funnel servo logic, commented out unfinished features
Science/pinouts.h	Updated pinout declarations for new architecture
Science/motor_pinouts.h	Modernized motor configuration syntax
Science/Science.ino	Updated main loop to use new serial interface and removed deprecated components
Science-Aux/src/version.pb.h	Added version protocol buffer for auxiliary subsystem
Science-Aux/src/version.pb.c	Added version protocol buffer implementation
Science-Aux/src/utils	Added submodule reference
Science-Aux/src/tmc	Added submodule reference
Science-Aux/src/temp_humidity/temp_humidity.h	Added new temperature/humidity sensor interface
Science-Aux/src/temp_humidity/temp_humidity.cpp	Added new temperature/humidity sensor implementation
Science-Aux/src/science.pb.h	Added protocol buffer header for auxiliary subsystem
Science-Aux/src/science.pb.c	Added protocol buffer implementation
Science-Aux/src/lidar/src/LIDARLite.h	Added LIDAR sensor library header
Science-Aux/src/lidar/src/LIDARLite.cpp	Added LIDAR sensor library implementation
Science-Aux/src/lidar/lidar.h	Added LIDAR wrapper class header
Science-Aux/src/lidar/lidar.cpp	Added LIDAR wrapper implementation
Science-Aux/src/current_sensor/current_sensor.h	Added current sensor class with filtering
Science-Aux/src/current_sensor/current_sensor.cpp	Added current sensor implementation with adaptive filtering
Science-Aux/src/auger_servo/auger_servo.h	Added auger servo control class
Science-Aux/src/auger_servo/auger_servo.cpp	Added auger servo implementation
Science-Aux/pinouts.h	Added pinout definitions for auxiliary subsystem
Science-Aux/Science-Aux.ino	Added main program for auxiliary subsystem
Science-Aux/.vscode/settings.json	Added VS Code configuration
Protobuf	Updated submodule reference
.gitmodules	Added submodule entries for Science-Aux dependencies

Comments suppressed due to low confidence (4)

Science/src/pumps/pumps.h:1

Corrected spelling of 'seperate' to 'separate'.
Science/src/pumps/pumps.cpp:1
Corrected spelling of 'H202' to 'H2O2' (hydrogen peroxide formula).
Science/src/pumps/pumps.cpp:1
This arithmetic results in a negative delay value (-6700ms) since pumpDelay2 (3300) is less than pumpDelay3 (10000). The delay() function with a negative value will cause incorrect behavior. The operands should likely be swapped or the logic reconsidered.
Science/src/pumps/pumps.cpp:1
This arithmetic results in a small delay (3400ms), but based on the sequence, this appears to be using the wrong delay constants. Review the intended pump timing sequence to ensure the correct delays are applied.

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Copilot · 2026-02-20T08:05:07Z

Science/src/motors/motors.cpp

-  dirtLinear.presetup();
-
-  scooperArm.setup();
+  dirtCarousel.preSetup();


Inconsistent method naming: 'preSetup' here vs 'presetup' in commented-out code on previous lines. The casing should be standardized across the codebase.

Suggested change

dirtCarousel.preSetup();

dirtCarousel.presetup();

Copilot · 2026-02-20T08:05:08Z

Science/src/carousel/carousel.cpp

+  // stepper.moveby(1);
+  // }
+  // stepper.block();
+  // detachInterupt(digitalPinToInterrupt(indexPin));


Corrected spelling of 'detachInterupt' to 'detachInterrupt' on line 23.

Suggested change

// detachInterupt(digitalPinToInterrupt(indexPin));

// detachInterrupt(digitalPinToInterrupt(indexPin));

Copilot · 2026-02-20T08:05:08Z

Science/src/carousel/carousel.cpp

+  // pinMode(indexPin,INPUT);
+  // attachInterrupt(digitalPinToInterrupt(indexPin), Home, CHANGE);
+  // while (!atHome){
+  // stepper.moveby(1);


Inconsistent method naming: 'moveby' should likely be 'moveBy' to match the camelCase convention used elsewhere in the codebase (e.g., 'moveBySteps').

Suggested change

// stepper.moveby(1);

// stepper.moveBy(1);

Copilot · 2026-02-20T08:05:08Z

Science/motor_pinouts.h

-};
+StepperMotor dirtCarouselMotor(StepperGeneralConfig{
+	.name = "dirtCarousel",
+	.steps_per_unit = microsteps_per_deg * -1,


The variable name 'microsteps_per_deg' is inconsistent with 'microsteps_per_deg' used elsewhere. Verify this is the correct identifier or if it should match the naming convention from other files.

Suggested change

.steps_per_unit = microsteps_per_deg * -1,

.steps_per_unit = MICROSTEPS_PER_DEG * -1,

Copilot · 2026-02-20T08:05:08Z

Science/Science.ino

+Version version = {major: 1, minor: 1};
+


The version variable is declared but never used in this file. Consider removing it or integrating it into the version tracking system if it's intended to be sent with ScienceData.

Suggested change

Version version = {major: 1, minor: 1};

Copilot · 2026-02-20T08:05:09Z

Science-Aux/pinouts.h

+StepperMotor linearSlider(
+  StepperGeneralConfig{
+    .name ="linearSlider",
+    .steps_per_unit = microsteps_per_deg,


Inconsistent naming: 'microsteps_per_deg' here doesn't match 'microsteps_per_deg' used in Science/motor_pinouts.h. The variable name should be consistent across both files.

nturner01 and others added 16 commits February 17, 2026 18:05

Update tmc submodule

0cedf00

Submodule cleanup

405f4db

Submodule cleanup, updated protobuf for lidar

bec9963

Removed unused pump

3455ead

Moved around lidar files

14416a6

Generated protobuf for Science/Science-Aux

1c4e7fc

Removed temp sensor and servos from Science

d490ce8

*Moved to Science-Aux

Changed Pump timings for sequencing testing

83728f0

Removing clutter from science, cleaning up

a4ed907

submodules

Changed pin mapping and config to work with new

b582ac6

TMC-Firmware wrapper

Purged Science.ino

ce4468c

Changed subsurface folder to auger_servo

e421171

Finished cleaning up Science, moving on to Aux

6dbca91

Move stepper pinouts from motor_pinouts

9635281

to pinouts

Fixed science side of things

6547649

Fixed Science and Science Aux

91c9c14

(finally, pain and Agony)

Kenou2005 requested a review from Levi-Lesches as a code owner February 19, 2026 17:33

Kenou2005 added 3 commits February 19, 2026 12:49

removed testing functions

e6b0979

updated protobuf for science and science aux

346abd5

added aux_current to proto

0943f97

ruari-r requested a review from Copilot February 20, 2026 08:03

Copilot AI reviewed Feb 20, 2026

View reviewed changes

Kenou2005 and others added 3 commits February 20, 2026 03:19

Comm error testing

4917f2c

delete .vscode directory

9434cae

testing changed dataTimer.setup()

6821c67

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Science aux cleanup#37

Science aux cleanup#37
Kenou2005 wants to merge 22 commits intomainfrom
Science-Aux-cleanup

Kenou2005 commented Feb 19, 2026

Uh oh!

Copilot AI left a comment

Uh oh!

Copilot AI Feb 20, 2026

Uh oh!

Copilot AI Feb 20, 2026

Uh oh!

Copilot AI Feb 20, 2026

Uh oh!

Copilot AI Feb 20, 2026

Uh oh!

Copilot AI Feb 20, 2026

Uh oh!

Copilot AI Feb 20, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

4 participants

	// detachInterupt(digitalPinToInterrupt(indexPin));
	// detachInterrupt(digitalPinToInterrupt(indexPin));

	.steps_per_unit = microsteps_per_deg * -1,
	.steps_per_unit = MICROSTEPS_PER_DEG * -1,

Conversation

Kenou2005 commented Feb 19, 2026

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Reviewed changes

Uh oh!

Copilot AI Feb 20, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Feb 20, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Feb 20, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Feb 20, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Feb 20, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Feb 20, 2026

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

4 participants