taskUser_F.py File Reference

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

Functions
def	taskUser_F.taskUserFcn (taskName, period, wFlag, cFlag, pFlag, kFlag, dFlag, sFlag, duty, Eang, Vang, controlParameters)
	A generator to implement the UI task as an FSM. More...
def	taskUser_F.printUI ()
	Prints the command screen for the user interface.

Variables
	taskUser_F.S0_INIT = micropython.const(0)
	Defines the State 0 Initiate variable as the constant 0.
	taskUser_F.S1_CMD = micropython.const(1)
	Defines the State 1 Command variable as the constant 1.
	taskUser_F.S2_POSITION = micropython.const(2)
	Defines the State 2 Print variable as the constant 2.
	taskUser_F.S3_VELOCITY = micropython.const(3)
	Defines the State 3 Velocity variable as the constant 3.
	taskUser_F.S4_INPUT = micropython.const(4)
	Defines the State 4 Duty Cycle variable as the constant 4.
	taskUser_F.S5_REF = micropython.const(5)
	Defines the State 5 Reference Velocity variable as the constant 5.
	taskUser_F.S6_SETGAIN = micropython.const(6)
	Defines the State 6 Set Gain variable as the constant 6.
	taskUser_F.S7_CLOOP = micropython.const(7)
	Defines the State 7 Closed Loop Control variable as the constant 7.
	taskUser_F.S8_CAL = micropython.const(8)
	Defines the State 8 Calibration variable as the constant 8.

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/Term%20Project/taskUser_F.py

Author

Lucas Murray

Max Cassady

Date

February 24, 2022

Function Documentation

taskUserFcn()

def taskUser_F.taskUserFcn	(		taskName,
			period,
			wFlag,
			cFlag,
			pFlag,
			kFlag,
			dFlag,
			sFlag,
			duty,
			Eang,
			Vang,
			controlParameters
	)

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.
wFlag	Boolean variable shared between taskUser and taskMotor for the closed loop control toggle command
cFlag	Boolean variable shared between taskUser and taskIMU for the IMU calibration command
pFlag	Tuple variable shared between taskUser and taskPanel for the calibration and read commands
kFlag	Tuple variable shared between taskUser and taskMotor for the change gains command
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
duty	Tuple shared between taskUser and taskMotor that stores the input duty value
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
controlParameters	Tuple shared between taskUser and taskMotor that stores the input reference velocity and proportional gain