RSDK-2357 FIX: only log maxrpm warning when maxrpm > 0 (#2342)

components/motor/dimensionengineering/sabertooth.go

@@ -238,6 +238,7 @@ func NewMotor(ctx context.Context, c *Config, name resource.Name, logger golog.L
 		dirFlip:     c.DirectionFlip,
 		minPowerPct: c.MinPowerPct,
 		maxPowerPct: c.MaxPowerPct,
+		maxRPM:      c.MaxRPM,
 	}
 
 	if err := m.configure(c); err != nil {
@@ -345,9 +346,10 @@ func (m *Motor) SetPower(ctx context.Context, powerPct float64, extra map[string
 	rawSpeed := powerPct * maxSpeed
 	switch speed := math.Abs(rawSpeed); {
 	case speed < 0.1:
-		m.c.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
-	case speed > m.maxRPM-0.1:
-		m.c.logger.Warnf("motor (%s) speed is nearly the max rev_per_min (%f)", m.Name(), m.maxRPM)
+		m.c.logger.Warn("motor speed is nearly 0 rev_per_min")
+	case m.maxRPM > 0 && speed > m.maxRPM-0.1:
+		m.c.logger.Warnf("motor speed is nearly the max rev_per_min (%f)", m.maxRPM)
+	default:
 	}
 	if math.Signbit(rawSpeed) {
 		rawSpeed *= -1

components/motor/dimensionengineering/sabertooth_test.go

@@ -40,6 +40,7 @@ func TestSabertoothMotor(t *testing.T) {
 		TestChan:      c,
 		SerialAddress: 128,
 		DirectionFlip: false,
+		MaxRPM:        1,
 	}
 
 	motorReg, ok := resource.LookupRegistration(motor.API, sabertoothModel)
@@ -102,6 +103,7 @@ func TestSabertoothMotor(t *testing.T) {
 		TestChan:      c,
 		SerialAddress: 128,
 		DirectionFlip: false,
+		MaxRPM:        1,
 	}
 
 	m2, err := motorReg.Constructor(context.Background(), deps, resource.Config{Name: "motor2", ConvertedAttributes: &mc2}, logger)
@@ -167,6 +169,7 @@ func TestSabertoothMotorDirectionFlip(t *testing.T) {
 		TestChan:      c,
 		SerialAddress: 128,
 		DirectionFlip: true,
+		MaxRPM:        1,
 	}
 
 	motorReg, ok := resource.LookupRegistration(motor.API, sabertoothModel)
@@ -222,6 +225,7 @@ func TestSabertoothMotorDirectionFlip(t *testing.T) {
 		TestChan:      c,
 		SerialAddress: 128,
 		DirectionFlip: true,
+		MaxRPM:        1,
 	}
 
 	m2, err := motorReg.Constructor(context.Background(), deps, resource.Config{Name: "motor2", ConvertedAttributes: &mc2}, logger)
@@ -286,6 +290,7 @@ func TestSabertoothRampConfig(t *testing.T) {
 		TestChan:      c,
 		SerialAddress: 128,
 		RampValue:     100,
+		MaxRPM:        1,
 	}
 
 	motorReg, ok := resource.LookupRegistration(motor.API, sabertoothModel)
@@ -318,6 +323,7 @@ func TestSabertoothAddressMapping(t *testing.T) {
 		MotorChannel:  1,
 		TestChan:      c,
 		SerialAddress: 129,
+		MaxRPM:        1,
 	}
 
 	motorReg, ok := resource.LookupRegistration(motor.API, sabertoothModel)
@@ -342,6 +348,7 @@ func TestInvalidMotorChannel(t *testing.T) {
 		MotorChannel:  3,
 		TestChan:      c,
 		SerialAddress: 129,
+		MaxRPM:        1,
 	}
 
 	motorReg, ok := resource.LookupRegistration(motor.API, sabertoothModel)
@@ -364,6 +371,7 @@ func TestInvalidBaudRate(t *testing.T) {
 		TestChan:      c,
 		SerialAddress: 129,
 		BaudRate:      1,
+		MaxRPM:        1,
 	}
 
 	motorReg, ok := resource.LookupRegistration(motor.API, sabertoothModel)
@@ -385,6 +393,7 @@ func TestInvalidSerialAddress(t *testing.T) {
 		MotorChannel:  1,
 		TestChan:      c,
 		SerialAddress: 140,
+		MaxRPM:        1,
 	}
 
 	motorReg, ok := resource.LookupRegistration(motor.API, sabertoothModel)
@@ -408,6 +417,7 @@ func TestInvalidMinPowerPct(t *testing.T) {
 		SerialAddress: 129,
 		MinPowerPct:   0.7,
 		MaxPowerPct:   0.5,
+		MaxRPM:        1,
 	}
 
 	motorReg, ok := resource.LookupRegistration(motor.API, sabertoothModel)
@@ -431,6 +441,7 @@ func TestInvalidMaxPowerPct(t *testing.T) {
 		SerialAddress: 129,
 		MinPowerPct:   0.7,
 		MaxPowerPct:   1.5,
+		MaxRPM:        1,
 	}
 
 	motorReg, ok := resource.LookupRegistration(motor.API, sabertoothModel)
@@ -455,6 +466,7 @@ func TestMultipleInvalidParameters(t *testing.T) {
 		SerialAddress: 140,
 		MinPowerPct:   1.7,
 		MaxPowerPct:   1.5,
+		MaxRPM:        1,
 	}
 
 	motorReg, ok := resource.LookupRegistration(motor.API, sabertoothModel)

components/motor/dmc4000/dmc.go

@@ -54,7 +54,7 @@ type Motor struct {
 	c                *controller
 	Axis             string
 	TicksPerRotation int
-	MaxRPM           float64
+	maxRPM           float64
 	MaxAcceleration  float64
 	HomeRPM          float64
 	jogging          bool
@@ -149,22 +149,22 @@ func NewMotor(ctx context.Context, c *Config, name resource.Name, logger golog.L
 		c:                ctrl,
 		Axis:             c.Axis,
 		TicksPerRotation: c.TicksPerRotation,
-		MaxRPM:           c.MaxRPM,
+		maxRPM:           c.MaxRPM,
 		MaxAcceleration:  c.MaxAcceleration,
 		HomeRPM:          c.HomeRPM,
 		powerPct:         0.0,
 	}
 
-	if m.MaxRPM <= 0 {
-		m.MaxRPM = 1000 // arbitrary high value
+	if m.maxRPM <= 0 {
+		m.maxRPM = 1000 // arbitrary high value
 	}
 
 	if m.MaxAcceleration <= 0 {
 		m.MaxAcceleration = 1000 // rpm/s, arbitrary/safe value (1s to max)
 	}
 
 	if m.HomeRPM <= 0 {
-		m.HomeRPM = m.MaxRPM / 4
+		m.HomeRPM = m.maxRPM / 4
 	}
 
 	if err := m.configure(c); err != nil {
@@ -395,8 +395,8 @@ func (c *controller) sendCmd(cmd string) (string, error) {
 // Convert rpm to DMC4000 counts/sec.
 func (m *Motor) rpmToV(rpm float64) int {
 	rpm = math.Abs(rpm)
-	if rpm > m.MaxRPM {
-		rpm = m.MaxRPM
+	if rpm > m.maxRPM {
+		rpm = m.maxRPM
 	}
 	speed := rpm * float64(m.TicksPerRotation) / 60
 
@@ -445,14 +445,15 @@ func (m *Motor) SetPower(ctx context.Context, powerPct float64, extra map[string
 
 	switch pow := math.Abs(powerPct); {
 	case pow < 0.1:
-		m.c.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
+		m.c.logger.Warn("motor speed is nearly 0 rev_per_min")
 		return m.Stop(ctx, extra)
-	case pow*m.MaxRPM > m.MaxRPM-0.1:
-		m.c.logger.Warnf("motor (%s) speed is nearly the max rev_per_min (%f)", m.Name(), m.MaxRPM)
+	case m.maxRPM > 0 && pow*m.maxRPM > m.maxRPM-0.1:
+		m.c.logger.Warnf("motor speed is nearly the max rev_per_min (%f)", m.maxRPM)
+	default:
 	}
 
 	m.powerPct = powerPct
-	return m.Jog(ctx, powerPct*m.MaxRPM)
+	return m.Jog(ctx, powerPct*m.maxRPM)
 }
 
 // Jog moves indefinitely at the specified RPM.
@@ -497,10 +498,11 @@ func (m *Motor) stopJog() error {
 func (m *Motor) GoFor(ctx context.Context, rpm, revolutions float64, extra map[string]interface{}) error {
 	switch speed := math.Abs(rpm); {
 	case speed < 0.1:
-		m.c.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
+		m.c.logger.Warn("motor speed is nearly 0 rev_per_min")
 		return motor.NewZeroRPMError()
-	case speed > m.MaxRPM-0.1:
-		m.c.logger.Warnf("motor (%s) speed is nearly the max rev_per_min (%f)", m.Name(), m.MaxRPM)
+	case m.maxRPM > 0 && speed > m.maxRPM-0.1:
+		m.c.logger.Warnf("motor speed is nearly the max rev_per_min (%f)", m.maxRPM)
+	default:
 	}
 	ctx, done := m.opMgr.New(ctx)
 	defer done()
@@ -786,9 +788,10 @@ func (m *Motor) doGoTo(rpm, position float64) error {
 
 	switch speed := math.Abs(rpm); {
 	case speed < 0.1:
-		m.c.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
-	case speed > m.MaxRPM-0.1:
-		m.c.logger.Warnf("motor (%s) speed is nearly the max rev_per_min (%f)", m.Name(), m.MaxRPM)
+		m.c.logger.Warn("motor speed is nearly 0 rev_per_min")
+	case m.maxRPM > 0 && speed > m.maxRPM-0.1:
+		m.c.logger.Warnf("motor speed is nearly the max rev_per_min (%f)", m.maxRPM)
+	default:
 	}
 
 	// Speed

components/motor/fake/motor.go

@@ -262,8 +262,9 @@ func (m *Motor) GoFor(ctx context.Context, rpm, revolutions float64, extra map[s
 	case speed < 0.1:
 		m.Logger.Warn("motor speed is nearly 0 rev_per_min")
 		return motor.NewZeroRPMError()
-	case speed > m.MaxRPM-0.1:
+	case m.MaxRPM > 0 && speed > m.MaxRPM-0.1:
 		m.Logger.Warnf("motor speed is nearly the max rev_per_min (%f)", m.MaxRPM)
+	default:
 	}
 
 	powerPct, waitDur, dir := goForMath(m.MaxRPM, rpm, revolutions)
@@ -308,8 +309,9 @@ func (m *Motor) GoTo(ctx context.Context, rpm, pos float64, extra map[string]int
 	switch speed := math.Abs(rpm); {
 	case speed < 0.1:
 		m.Logger.Warn("motor speed is nearly 0 rev_per_min")
-	case speed > m.MaxRPM-0.1:
+	case m.MaxRPM > 0 && speed > m.MaxRPM-0.1:
 		m.Logger.Warnf("motor speed is nearly the max rev_per_min (%f)", m.MaxRPM)
+	default:
 	}
 
 	curPos, err := m.Position(ctx, nil)

components/motor/gpio/basic.go

@@ -272,10 +272,11 @@ func (m *Motor) GoFor(ctx context.Context, rpm, revolutions float64, extra map[s
 
 	switch speed := math.Abs(rpm); {
 	case speed < 0.1:
-		m.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
+		m.logger.Warn("motor speed is nearly 0 rev_per_min")
 		return motor.NewZeroRPMError()
-	case speed > m.maxRPM-0.1:
-		m.logger.Warnf("motor (%s) speed is nearly the max rev_per_min (%f)", m.Name(), m.maxRPM)
+	case m.maxRPM > 0 && speed > m.maxRPM-0.1:
+		m.logger.Warnf("motor speed is nearly the max rev_per_min (%f)", m.maxRPM)
+	default:
 	}
 
 	powerPct, waitDur := goForMath(m.maxRPM, rpm, revolutions)

components/motor/gpio/motor_encoder.go

@@ -558,10 +558,11 @@ func (m *EncodedMotor) goForInternal(ctx context.Context, rpm, revolutions float
 
 	switch speed := math.Abs(rpm); {
 	case speed < 0.1:
-		m.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
+		m.logger.Warn("motor speed is nearly 0 rev_per_min")
 		return motor.NewZeroRPMError()
-	case speed > m.cfg.MaxRPM-0.1:
-		m.logger.Warnf("motor (%s) speed is nearly the max rev_per_min (%f)", m.Name(), m.cfg.MaxRPM)
+	case m.cfg.MaxRPM > 0 && speed > m.cfg.MaxRPM-0.1:
+		m.logger.Warnf("motor speed is nearly the max rev_per_min (%f)", m.cfg.MaxRPM)
+	default:
 	}
 
 	m.stateMu.Lock()

components/motor/gpiostepper/gpiostepper.go

@@ -308,7 +308,7 @@ func (m *gpioStepper) goForInternal(ctx context.Context, rpm, revolutions float6
 
 	speed := math.Abs(rpm)
 	if speed < 0.1 {
-		m.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
+		m.logger.Warn("motor speed is nearly 0 rev_per_min")
 		return m.Stop(ctx, nil)
 	}
 

components/motor/i2cmotors/ezopmp.go

@@ -273,10 +273,11 @@ func (m *Ezopmp) SetPower(ctx context.Context, powerPct float64, extra map[strin
 func (m *Ezopmp) GoFor(ctx context.Context, mLPerMin, mins float64, extra map[string]interface{}) error {
 	switch speed := math.Abs(mLPerMin); {
 	case speed < 0.1:
-		m.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
+		m.logger.Warn("motor speed is nearly 0 rev_per_min")
 		return motor.NewZeroRPMError()
-	case speed > m.maxFlowRate-0.1:
-		m.logger.Warnf("motor (%s) speed is nearly the max rev_per_min (%f)", m.Name(), m.maxFlowRate)
+	case m.maxFlowRate > 0 && speed > m.maxFlowRate-0.1:
+		m.logger.Warnf("motor speed is nearly the max rev_per_min (%f)", m.maxFlowRate)
+	default:
 	}
 
 	ctx, done := m.opMgr.New(ctx)

components/motor/roboclaw/roboclaw.go

@@ -161,7 +161,7 @@ func (m *roboclawMotor) SetPower(ctx context.Context, powerPct float64, extra ma
 func (m *roboclawMotor) GoFor(ctx context.Context, rpm, revolutions float64, extra map[string]interface{}) error {
 	speed := math.Abs(rpm)
 	if speed < 0.1 {
-		m.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
+		m.logger.Warn("motor speed is nearly 0 rev_per_min")
 		return motor.NewZeroRPMError()
 	}
 

components/motor/tmcstepper/stepper_motor_tmc.go

@@ -420,9 +420,10 @@ func (m *Motor) doJog(ctx context.Context, rpm float64) error {
 
 	switch speed0 := math.Abs(rpm); {
 	case speed0 < 0.1:
-		m.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
-	case speed0 > m.maxRPM:
-		m.logger.Warnf("motor (%s) speed is nearly the max rev_per_min (%f)", m.Name(), m.maxRPM)
+		m.logger.Warn("motor speed is nearly 0 rev_per_min")
+	case m.maxRPM > 0 && speed0 > m.maxRPM:
+		m.logger.Warnf("motor speed is nearly the max rev_per_min (%f)", m.maxRPM)
+	default:
 	}
 
 	speed := m.rpmToV(math.Abs(rpm))
@@ -437,7 +438,7 @@ func (m *Motor) doJog(ctx context.Context, rpm float64) error {
 // Note: if both are negative the motor will spin in the forward direction.
 func (m *Motor) GoFor(ctx context.Context, rpm, rotations float64, extra map[string]interface{}) error {
 	if math.Abs(rpm) < 0.1 {
-		m.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
+		m.logger.Warn("motor speed is nearly 0 rev_per_min")
 		return motor.NewZeroRPMError()
 	}
 
@@ -488,9 +489,10 @@ func (m *Motor) GoTo(ctx context.Context, rpm, positionRevolutions float64, extr
 
 	switch speed := math.Abs(rpm); {
 	case speed < 0.1:
-		m.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
-	case speed > m.maxRPM-0.1:
-		m.logger.Warnf("motor (%s) speed is nearly the max rev_per_min (%f)", m.Name(), m.maxRPM)
+		m.logger.Warn("motor speed is nearly 0 rev_per_min")
+	case m.maxRPM > 0 && speed > m.maxRPM-0.1:
+		m.logger.Warnf("motor speed is nearly the max rev_per_min (%f)", m.maxRPM)
+	default:
 	}
 
 	err := multierr.Combine(

components/motor/ulnstepper/28byj-48.go

@@ -250,11 +250,12 @@ func (m *uln28byj) GoFor(ctx context.Context, rpm, revolutions float64, extra ma
 
 	switch speed := math.Abs(rpm); {
 	case speed < 0.1:
-		m.logger.Warnf("motor (%s) speed is nearly 0 rev_per_min", m.Name())
+		m.logger.Warn("motor speed is nearly 0 rev_per_min")
 		return motor.NewZeroRPMError()
 	case speed > 146-0.1:
-		m.logger.Warnf("motor (%s) speed is nearly the max rev_per_min (%f)", m.Name(), 146)
+		m.logger.Warnf("motor speed is nearly the max rev_per_min (%f)", 146)
 		return m.Stop(ctx, nil)
+	default:
 	}
 
 	m.lock.Lock()