main.py File Reference

Initializes values and manages tasks. More...

Variables
	main.mode = shares.Share('OL')
	Signal that holds the current mode. More...
	main.Kp = shares.Share('')
	Stores the gain value. More...
	main.Y = shares.Share('')
	Stores the target velocity value. More...

Detailed Description

Initializes values and manages tasks.

This is the main file to run the tasks required to interact with the encoder. It will continually call the specified task until the user interrupts the program by ending it with Keyboard Interrupt (Ctrl-C). Variables shared between tasks are initialized here and the tasks, and there periods are defined to run at 100Hz. Pictures of the state transition diagrams can be found in their respective task files. A picture of the task diagram can be found below. To view the code repository for this lab, see link below.

Code repository for this lab: https://bitbucket.org/rdeanr/me305/src/master/Lab4/

See Lab 4 for state transition diagrams and other plots

Author

Ryan Dean

Zachary Hendrix

Date

2/3/2022

Variable Documentation

Kp

main.Kp = shares.Share('')

Stores the gain value.

Used to communicate between tasks in order to pass the gain across files.

mode

main.mode = shares.Share('OL')

Signal that holds the current mode.

Shared variable that holds the current mode.

Shared object so we can update its value in every file. It turns true when w is pressed and indicates wheter we are in the open-loop or closed loop circuit

Y

main.Y = shares.Share('')

Stores the target velocity value.

Used to communicate between tasks in order to pass the gain across files.