taskData.py File Reference

Runs tasks sent by the taskUser file and collects the desired data. More...

Functions
def	taskData.taskDataFcn (taskName, period, dFlag, sFlag, Eang, Vang, Cart)
	Collects the data as determined by the taskUser file. More...

Variables
	taskData.S0_INIT = micropython.const(0)
	Defines the State 0 Initiate variable as the constant 0.
	taskData.S1_DATA = micropython.const(1)
	Defines the State 1 Data variable as the constant 1.
	taskData.S2_POSITION = micropython.const(2)
	Defines the State 2 Position variable as the constant 2.
	taskData.S3_VELOCITY = micropython.const(3)
	Defines the State 3 Velocity variable as the constant 3.
	taskData.S4_ANGLE = micropython.const(4)
	Defines the State 4 Angle variable as the constant 4.
	taskData.S5_OMEGA = micropython.const(5)
	Defines the State 5 Omega variable as the constant 5.
	taskData.S6_WRITE = micropython.const(6)
	Defines the State 6 Write variable as the constant 6.

Detailed Description

Runs tasks sent by the taskUser file and collects the desired data.

Acts as a background function file controlling the IMU for the primary user interface so that the user interface does not have to perform data collection directly. It will write the chosen data to a file for 20 seconds that can be used to plot or just saved for later.

Sample Data Plots The platform can gather various different forms of data through this task, including the ball position, the ball velocity, the platform angular position, and the platform angular velocity. Sample plots from the file created by each of these data collections can be seen below. The data collected has no real meaning, it was just us moving the ball and platform around, but it acts as proof that our data collection works.

The State Transition Diagram for taskData can be seen here.

Source Code: https://bitbucket.org/lmurray03/me305_lucas_murray/src/master/Term%20Project/taskData.py

Author

Lucas Murray

Max Cassady

Date

March 17, 2022

Function Documentation

taskDataFcn()

def taskData.taskDataFcn	(		taskName,
			period,
			dFlag,
			sFlag,
			Eang,
			Vang,
			Cart
	)

Collects the data as determined by the taskUser file.

Interfaces with the taskUser file through the use of the shared flag and tuple parameters, reading the chosen data for 20 seconds and writing it to a file unless told to stop by the userTask.

Parameters

taskName	The name of the task a string
period	The period of the task in microseconds as an integer
dFlag	Tuple variable shared between taskUser and taskData for the collect data command
sFlag	Boolean variable shared between taskUser and taskData for the stop data collection early command
Eang	Tuple shared between taskIMU, taskUser, taskData, and taskMotor that stores euler angle values
Vang	Tuple shared between taskIMU, taskUser, taskData, and taskMotor that stores angular velocity values
Cart	Tuple shared between taskData and taskPanel that contains the touch panel position and velocity data values