Refine the proposed joint motion controller architectures

[mfussi66]

On branch joint-arch, I started drafting a proposal for the motion controller, an upgrade to the existing one since it would even include position control at the joint level. To better direct the project, I created a

Software Logical Architecture

and a Functional architecture

The aim of this issue is to document the progress, collect feedback, and solidify the components before defining the input-output interfaces.

[mfussi66]

After an internal meeting, we decided to split the logical architecture in Core 1 and Core 2, highlighting the fact that the Core 2 functions are already implemented in the AMC(/BLDC/FOC) Projects:

Therefore, the Manager can be split in 2:

• The Motor Controller in Core 2 will use the existing supervisor.slx as internal manager, and it will be tasked with handling and reporting motor faults ( the supervisor could be streamlined a bit)

Important

Ideally, we would like this to just be a model reference to the existing motion_controller.slx;

• The second part will sit in the Core 1 and can be tasked with handling the Core 2 faults (e.g. communication timeouts?), and, for example, the Joint encoder faults

By splitting the responsibilities in this way we can

• keep the existing motion controller somewhat untouched
• minimize the impact on the existing architectures
• add the trajectory planner to the can boards
• enable development of the core 1 features
• Take the first steps towards considering a communication block between the two cores

[mfussi66]

I made little adjustments:

• MotorControllers renamed to MotionController to be aligned to the one in common
• Aligned the above ports to the existing motion_controller.slx
• Removed MotorAbstraction since it was just a placeholder for motor information storage (which sits on motion controller)
• Added blocks for processing raw sensor data and present it to the motion controller
• Removed extra top-level inputs, which should be the content of "inputmessage"

Before moving on with implementing each piece, we should formalize the interfaces.