Handles the user UI of our encoder system. More...

Functions
def	task_user.taskUser (taskname, period, zFlag, pFlag, dFlag, gFlag, position, delta, P, T)
	A generator to implement the UI task as an Finite State Machine. More...

Variables
	task_user.S0_INIT = micropython.const(0)
	State 0 - Initialize. More...

	task_user.S1_CMD = micropython.const(1)
	State 1 - Command. More...

	task_user.S2_ZERO = micropython.const(2)
	State 2 - Zero Encoder. More...

	task_user.S3_POS = micropython.const(3)
	State 3 - Position. More...

	task_user.S4_DEL = micropython.const(4)
	State 4 - Delta. More...

	task_user.S5_DATA = micropython.const(5)
	State 5 - Data Collection. More...

	task_user.S6_HELP = micropython.const(6)
	State 6 - Help. More...

Detailed Description

Handles the user UI of our encoder system.

This file interacts directly with user keyboard inputs to then send the request to the task_encoder.py file. It uses six states that correspond to different key in puts to send the program into its appropriate settings based on the user input. These states are highlighted below:

S0-Initialization S1-Command S2-Zero S3-Position S4-Delta S5-Data S6-Help

The below image shows the state transition diagram employed for this task file:

Author: Ryan Dean; Zachary Hendrix

Date: 2/1/2022

Function Documentation

◆ taskUser()

def task_user.taskUser	(	taskname,
		period,
		zFlag,
		pFlag,
		dFlag,
		gFlag,
		position,
		delta,
		P,
		T
	)

A generator to implement the UI task as an Finite State Machine.

The task runs as a generator function and requires a task name and interval to be specified. This task file receives flag values altered by the user. These flags are then shared with task_encoder.py where that task file can execute actions defined in encoder.py. Once the desired task is completed, the state is reset back to idle state (State 1).

Parameters

taskName	The name of the task as a string.
period	Specifies how long the task has to perform its function in microseconds. Specified as an integer.
zFlag	Holds True or False value to know when zeroing command was called by the user to zero the current position of the encoder.
pFlag	Holds True or False value to know when position command was called by the user to know the current position of the encoder.
dFlag	Holds True or False value to know when delta command was called by the user to know the current delta (speed) of the encoder.
gFlag	Holds True or False value to know when data collection command was called by the user to collect current time and position data.
position	Stores current position of encoder to be read in task_user.py
delta	Stores the delta (speed) of the encoder to be read in to task_user.py
P	Stores current position of encoder for data collection
T	Stores current time of encoder for data collection

Returns: yield None

Variable Documentation

◆ S0_INIT

task_user.S0_INIT = micropython.const(0)

State 0 - Initialize.

State that corresponds to initializing encoder 1 and printing out the initial help menu.

◆ S1_CMD

task_user.S1_CMD = micropython.const(1)

State 1 - Command.

State that waits for a user input and transfers the user to the correct state based on that input.

◆ S2_ZERO

task_user.S2_ZERO = micropython.const(2)

State 2 - Zero Encoder.

State that zeros out the encoder

◆ S3_POS

task_user.S3_POS = micropython.const(3)

State 3 - Position.

State that returns position to the user

◆ S4_DEL

task_user.S4_DEL = micropython.const(4)

State 4 - Delta.

State that returns the delta(speed) of the encoder to the user

◆ S5_DATA

task_user.S5_DATA = micropython.const(5)

State 5 - Data Collection.

State that collects 30 seconds of data and outputs it to the user

◆ S6_HELP

task_user.S6_HELP = micropython.const(6)

State 6 - Help.

State that returns a help window to the user

Functions

Variables