task_user.py File Reference

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

Functions
def	task_user.taskUser (taskname, period, zFlag, pFlag, vFlag, gFlag, mFlag, MFlag, position, delta, P, T, duty, Velo, Kp, Kd, mode, opmode, cFlag, calwrite, cal_byte, calread, bFlag, duty_1, duty_2)
	A generator to implement the UI task as an Finite State Machine. More...

Variables
	task_user.S2_MODE = micropython.const(2)
	State 2 - Changes mode of IMU. More...
	task_user.S14_BAL = micropython.const(14)
	State 14 - Enter closed loop.
	task_user.S15_CAL = micropython.const(15)
	State 15 - Calibrate IMU.

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.

Author

Ryan Dean

Zachary Hendrix

Date

2/1/2022

Function Documentation

taskUser()

def task_user.taskUser	(		taskname,
			period,
			zFlag,
			pFlag,
			vFlag,
			gFlag,
			mFlag,
			MFlag,
			position,
			delta,
			P,
			T,
			duty,
			Velo,
			Kp,
			Kd,
			mode,
			opmode,
			cFlag,
			calwrite,
			cal_byte,
			calread,
			bFlag,
			duty_1,
			duty_2
	)

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
duty	Stores duty value to pass into motor
Dtime	Represents the change in time between updates
eFlag	Holds True or False value to know when to enable motors
mode	Contains string to know whether in open or closed loop
Kp	Contains proportional gain value
Y	Contains set point value

Returns

yield None

Variable Documentation

S2_MODE

task_user.S2_MODE = micropython.const(2)

State 2 - Changes mode of IMU.

State that changes the mode of the IMU