taskUser.py File Reference

Runs a user interface for someone to run the encoder. More...

Functions
def	taskUser.taskUserFcn (taskName, period, zFlag, mFlag, MFlag, cFlag, wFlag, data, delta, duty, controlParameters, cLoopFeedback)
	A generator to implement the UI task as an FSM. More...
def	taskUser.printUI ()
	Prints the command screen for the user interface.

Variables
	taskUser.S0_INIT = micropython.const(0)
	Defines the State 0 Initiate variable as the constant 0.
	taskUser.S1_CMD = micropython.const(1)
	Defines the State 1 Command variable as the constant 1.
	taskUser.S2_ZERO = micropython.const(2)
	Defines the State 2 Zero variable as the constant 2.
	taskUser.S3_PRINT = micropython.const(3)
	Defines the State 3 Print variable as the constant 3.
	taskUser.S4_DELTA = micropython.const(4)
	Defines the State 4 Delta variable as the constant 4.
	taskUser.S5_COLLECT = micropython.const(5)
	Defines the State 5 Collect variable as the constant 5.
	taskUser.S6_VELOCITY = micropython.const(6)
	Defines the State 6 Velocity variable as the constant 6.
	taskUser.S7_GETDUTY = micropython.const(7)
	Defines the State 7 Duty Cycle variable as the constant 7.
	taskUser.S8_TEST = micropython.const(8)
	Defines the State 8 Test variable as the constant 8.
	taskUser.S9_FAULT = micropython.const(9)
	Defines the State 9 Fault variable as the constant 9.
	taskUser.S10_REF = micropython.const(10)
	Defines the State 10 Reference Velocity variable as the constant 10.
	taskUser.S11_SETGAIN = micropython.const(11)
	Defines the State 11 Set Gain variable as the constant 11.
	taskUser.S12_CLOOP = micropython.const(12)
	Defines the State 12 Closed Loop Control variable as the constant 12.
	taskUser.S14_STEP = micropython.const(14)
	Defines the State 14 Step Response Test variable as the constant 14.
	taskUser.S20_END = micropython.const(20)
	Defines the State 20 End variable as the constant 20.

Detailed Description

Runs a user interface for someone to run the encoder.

Uses a function to accept user input and run the desired method. Uses the shared variables to read data written by the encoder and motor tasks and to send flags that will tell either of the functions to perform a certain action.

The State Transition Diagram for taskUser can be seen here.

Source Code: https://bitbucket.org/lmurray03/me305_lucas_murray/src/master/Lab%200x02/taskUser.py

Author

Lucas Murray

Max Cassady

Date

February 24, 2022

Function Documentation

taskUserFcn()

def taskUser.taskUserFcn	(		taskName,
			period,
			zFlag,
			mFlag,
			MFlag,
			cFlag,
			wFlag,
			data,
			delta,
			duty,
			controlParameters,
			cLoopFeedback
	)

A generator to implement the UI task as an FSM.

The task runs as a generator function and requires a task name, interval and zFlag status to be specified.

Parameters

taskName	The name of the task as a string.
period	The task interval or period specified as an integer number of microseconds.
zFlag	Boolean variable shared between taskUser and taskEncoder for the zero command
mFlag	Boolean variable shared between taskUser and taskMotor for the motor1 duty cycle command
MFlag	Boolean variable shared between taskUser and taskMotor for the motor2 duty cycle command
cFlag	Boolean variable shared between taskUser and taskMotor for the reset fault command
wFlag	Boolean variable shared between taskUser and taskMotor for the closed loop control toggle command
data	Tuple data shared between taskUser and taskEncoder for data collection
delta	Tuple shared between taskUser and taskEncoder that stores delta data
duty	Tuple shared between taskUser and taskMotor that stores the input duty value
controlParameters	Tuple shared between taskUser and taskMotor that stores the input reference velocity and proportional gain
cLoopFeedback	Tuple shared between taskUser and taskMotor that stores the closed loop error feedback from each update