task_IMU.py File Reference

Directly interfaces with IMU. More...

Functions
def	task_IMU.taskIMU (taskname, period, zFlag, pFlag, vFlag, position, Velo, opmode, cFlag, calwrite, cal_byte, calread, bFlag)
	Generator function to inteface with IMU. More...

Detailed Description

Directly interfaces with IMU.

Called at a frequency of 100Hz, this task file uses the class BNO_driver within the BNO_driver.py drive file to interface with the IMU.Continually updating the position of the IMU, this task file uses flag values altered by the user in task_user.py to execute actions defined in BNO_dirver.py. Once the action is completed, these flags are reset.

Author

Ryan Dean

Zachary Hendrix

Date

2/1/2022

Function Documentation

taskIMU()

def task_IMU.taskIMU	(		taskname,
			period,
			zFlag,
			pFlag,
			vFlag,
			position,
			Velo,
			opmode,
			cFlag,
			calwrite,
			cal_byte,
			calread,
			bFlag
	)

Generator function to inteface with IMU.

Generator function receives values of certain flags that correspond to a desired action from the user. This then triggers the function to interact with the encoder.py drive file, performing the necessary action or storing the value for the user to then see with their interface.

Parameters

taskname	Name of the task being performed.
period	Specifies how long the task has to perform its function. received as microseconds. Specified as an integer.
zFlag	Holds True or False value to know when to change IMU mode
pFlag	Holds True or False value to know when position command was called by the user to know the angular position of platform in Euler angles.
vFlag	Holds True or False value to know when to collect velocity data
position	Stores current angular position of platformto be transferred to task_user.py
Velo	Stores angular velocity of platform
opmode	Stores user selected operating mode of IMU
cFlag	Holds True or False to begin platform calibration
calfile
calwrite	Holds True or False to begin writing calibration data to IMU
cal_byte	Stores byte data of the calibration status of IMU
calread	Holds True or False to begin reading IMU calibration data to later write to a text file
bFlag	Holds True or False to begin recording platform position and velocity data

Returns

yields None

Generator function receives values of certain flags that correspond to a desired action from the user. This then triggers the function to interact with the encoder.py drive file, performing the necessary action or storing the value for the user to then see with their interface.

Parameters

taskname	Name of the task being performed.
period	Specifies how long the task has to perform its function. received as microseconds. Specified as an integer.
zFlag	Holds True or False value to know when to change IMU mode
pFlag	Holds True or False value to know when position command was called by the user to know the angular position of platform in Euler angles.
vFlag	Holds True or False value to know when to collect velocity data
position	Stores current angular position of platformto be transferred to task_user.py
Velo	Stores angular velocity of platform
opmode	Stores user selected operating mode of IMU
cFlag	Holds True or False to begin platform calibration
calwrite	Holds True or False to begin writing calibration data to IMU
cal_byte	Stores byte data of the calibration status of IMU
calread	Holds True or False to begin reading IMU calibration data to later write to a text file
bFlag	Holds True or False to begin recording platform position and velocity data

Returns

yields None