ADC_driver.ADC_Driver Class Reference

ADC_Driver Class. More...

Public Member Functions
def	__init__ (self, xm_pin, xp_pin, ym_pin, yp_pin)
	Initializes ADC_Driver class. More...
def	scanX (self)
	Configures pins read x-position of ball. More...
def	scanY (self)
	Configures pins to read y-position of ball. More...
def	scanZ (self)
	Determines whether ball is in contact with touch sensor. More...
def	scanXYZ (self)
	Finds x,y, and contact measurements of ball. More...
def	calibrate (self, x)
	Calibrates touch panel. More...
def	writeBeta (self)
	Writes calibration coefficient matrix to text file. More...
def	readBeta (self)
	Reads from and stores value of calibration coefficient text file. More...

Public Attributes
	xm
	Pin object.
	xp
	Pin object.
	ym
	Pin object.
	yp
	Pin object.
	Beta
	Calibration coefficient matrix. More...
	oldTime
	Measured time in microseconds when class first initialized.
	newTime
	Measured time in microseconds when scanXYZ() method ran. More...
	deltatime
	Difference in time between each class call.
	xest
	Estimated x-position of ball.
	vxest
	Estimated x-direction velocity of ball.
	yest
	Estimated y-position of ball.
	vyest
	Estimated y-direction velocity of ball.
	A
	Alpha value for alpha-beta filter.
	B
	Beta value for alpha-beta filter.
	vx
	x-direction velocity of ball
	vy
	y-direction velocity of ball
	xnext
	Predicted x-position of ball.
	vxnext
	Predicted x-direction velocity of ball.
	ynext
	Predicted y-position of ball.
	vynext
	Predicted y-direction velocity of ball.
	ii
	Index for iteration. More...

Detailed Description

ADC_Driver Class.

Class to directly interface with touch panel. See file details for more details. Pin configurations change depending on coordinate reading.

Constructor & Destructor Documentation

__init__()

def ADC_driver.ADC_Driver.__init__	(		self,
			xm_pin,
			xp_pin,
			ym_pin,
			yp_pin
	)

Initializes ADC_Driver class.

Initializes pin objects, calibration coefficients, and estimated position/velocities

Parameters

xm_pin	Contains pin object to set voltage to read position. Connected to ground or floated.
xp_pin	Contains pin object to set voltage to read position. Connected to 3.3V or configured for ADC
ym_pin	Contains pin object to set voltage to read position. Connected to ground or floated.
yp_pin	Contains pin object to set voltage to read position. Connected to 3.3V or configured for ADC

Returns

None

Member Function Documentation

calibrate()

def ADC_driver.ADC_Driver.calibrate	(		self,
			x
	)

Calibrates touch panel.

Receives list of calibration measurements to calculate calibration coefficient matrix

Parameters

x	List of calibration measurements

Returns

None

readBeta()

def ADC_driver.ADC_Driver.readBeta

(

self

)

Reads from and stores value of calibration coefficient text file.

Returns

None

scanX()

def ADC_driver.ADC_Driver.scanX

(

self

)

Configures pins read x-position of ball.

Returns

X-position of ball

scanXYZ()

def ADC_driver.ADC_Driver.scanXYZ

(

self

)

Finds x,y, and contact measurements of ball.

Calculates position and velocity of ball using alpha-beta filtering.

Returns

x and y position and velocities of ball

scanY()

def ADC_driver.ADC_Driver.scanY

(

self

)

Configures pins to read y-position of ball.

Returns

Y-position of ball

scanZ()

def ADC_driver.ADC_Driver.scanZ

(

self

)

Determines whether ball is in contact with touch sensor.

Returns

True(contact) or False(no contact)

writeBeta()

def ADC_driver.ADC_Driver.writeBeta

(

self

)

Writes calibration coefficient matrix to text file.

Returns

None

Member Data Documentation

Beta

ADC_driver.ADC_Driver.Beta

Calibration coefficient matrix.

Read string of calibration text file.

Calibration position measurements.

Expected position measurents

Calibration coefficient matrix

Conversion of string data to list of floats

ii

ADC_driver.ADC_Driver.ii

Index for iteration.

Controls when loss of ball contact, causes platform to self balance

newTime

ADC_driver.ADC_Driver.newTime

Measured time in microseconds when scanXYZ() method ran.

X-measurement.

Y-measurement

selts xp Pin to ADC configuration

selts ym Pin to ADC configuration

3 by 1 matrix of ball position measurements

Matrix multiplication of measurements with calibration matrix

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The documentation for this class was generated from the following file:

• Term Project/ADC_driver.py