231 update lift code with new motion control and multiple lifts

Makefile

@@ -12,6 +12,10 @@ boards := $(foreach dir,$(wildcard boards/*),$(subst boards/, , $(dir)))
 # RIOT-OS patches targets
 include $(MCUFIRMWAREBASE)/makefiles/riot-patches.mk.inc
 
+# Disable top-level parallelism to avoid race conditions on shared resources
+# (packages, kconfiglib). Each application is already built with -j$(nproc).
+.NOTPARALLEL:
+
 .PHONY: all clean distclean doc docman doclatex docclean help world
 .PHONY: distclean-riot-patches riot-patches
 .PHONY: $(apps) $(examples)

applications/cup2025-robot1-lift/Makefile → applications/robot-lift-control/Makefile

@@ -1,7 +1,11 @@
-APPLICATION = cup2025-robot1-lift
+APPLICATION = robot-lift-control
 
 BOARD ?= cogip-board
 
+# Lift identifier (1-5)
+LIFT_ID ?= 1
+CFLAGS += -DLIFT_ID=$(LIFT_ID)
+
 # Platform
 USEMODULE += pf-robot-motors
 

applications/cup2025-robot1-lift/app.cpp → applications/robot-lift-control/app.cpp

@@ -8,8 +8,9 @@ namespace app {
 
 void app_init(void)
 {
-    cogip::pf::actuators::positional_actuators::create_lift(cogip::actuators::Enum::MOTOR_LIFT,
+    cogip::pf::actuators::positional_actuators::create_lift(actuators::LIFT_ACTUATOR_ID,
                                                             actuators::lift_params);
+    cogip::pf::actuators::positional_actuators::init_sequence();
 }
 
 } // namespace app

applications/cup2025-robot1-lift/include/actuators_motors_params.hpp → applications/robot-lift-control/include/actuators_motors_params.hpp

@@ -28,7 +28,7 @@ static const motor_driver_params_t actuators_motors_params = {
                 .gpio_enable = GPIO_PIN(PORT_A, 10),
                 .gpio_dir0 = GPIO_PIN(PORT_C, 6),
                 .gpio_brake = GPIO_PIN(PORT_C, 8),
-                .gpio_dir_reverse = 1,
+                .gpio_dir_reverse = 0,
             },
         },
     .motor_set_post_cb = nullptr};

applications/robot-lift-control/include/app_conf.hpp

@@ -0,0 +1,18 @@
+#pragma once
+
+// Macro helpers for LIFT_ID → liftX_conf.hpp include
+#define STRINGIFY(x) #x
+#define EXPAND_AND_STRINGIFY(x) STRINGIFY(x)
+#define CONCATENATE3(a, b, c) a##b##c
+#define LIFT_CONF_FILE(id) CONCATENATE3(lift, id, _conf.hpp)
+
+#ifndef LIFT_ID
+#error "Build with LIFT_ID=<1-2>. Ex: make LIFT_ID=1"
+#endif
+
+#if LIFT_ID < 1 || LIFT_ID > 2
+#error "LIFT_ID must be 1 or 2"
+#endif
+
+// Include the appropriate lift configuration based on LIFT_ID
+#include EXPAND_AND_STRINGIFY(LIFT_CONF_FILE(LIFT_ID))

applications/robot-lift-control/include/lift1_conf.hpp

@@ -0,0 +1,18 @@
+#pragma once
+
+#include "lift_common_conf.hpp"
+
+namespace cogip {
+namespace app {
+namespace actuators {
+
+/// @brief Lift 1 actuator ID (for CAN protobuf messages)
+inline constexpr cogip::actuators::Enum LIFT_ACTUATOR_ID =
+    cogip::actuators::Enum{0}; // MOTOR_LIFT_1
+
+/// @brief Lift parameters for lift 1
+static const auto lift_params = make_lift_params(LIFT_ACTUATOR_ID);
+
+} // namespace actuators
+} // namespace app
+} // namespace cogip

applications/robot-lift-control/include/lift2_conf.hpp

@@ -0,0 +1,18 @@
+#pragma once
+
+#include "lift_common_conf.hpp"
+
+namespace cogip {
+namespace app {
+namespace actuators {
+
+/// @brief Lift 2 actuator ID (for CAN protobuf messages)
+inline constexpr cogip::actuators::Enum LIFT_ACTUATOR_ID =
+    cogip::actuators::Enum{1}; // MOTOR_LIFT_2
+
+/// @brief Lift parameters for lift 2
+static const auto lift_params = make_lift_params(LIFT_ACTUATOR_ID);
+
+} // namespace actuators
+} // namespace app
+} // namespace cogip