taskUser_05.py File Reference

Manages the states for the User Interface task. More...

Functions
def	taskUser_05.printLegend ()
	Prints the available user key commands to the console. More...
def	taskUser_05.taskUserFcn (str task_name, int period, shares.Share roll_target_duty, shares.Share pitch_target_duty, shares.Share gFlag, shares.Share sFlag, shares.Share prop_gain, shares.Share deriv_gain, shares.Share cont_enable, shares.Share euler_angles, shares.Share angular_velocities, shares.Share roll_target_pos, shares.Share pitch_target_pos, PrintQueue print_queue)
	Main task function to control UI states. More...

Variables
	taskUser_05.S0_INIT = micropython.const(0)
	Maps state 0 to a more readable name.
	taskUser_05.S1_CMD = micropython.const(1)
	Maps state 1 to a more readable name.
	taskUser_05.S2_ZERO = micropython.const(2)
	Maps state 2 to a more readable name.
	taskUser_05.S3_PRINT = micropython.const(3)
	Maps state 3 to a more readable name.
	taskUser_05.S4_INPUT = micropython.const(4)
	Maps state 4 to a more readable name.
	taskUser_05.S5_TEST = micropython.const(5)
	Maps state 5 to a more readable name.
	taskUser_05.S6_SRESP = micropython.const(6)
	Maps state 6 to a more readable name.

Detailed Description

Manages the states for the User Interface task.

Manages the current state and executes state-related logic for all User Interface functionality. Cycles through states for processing input, zeroing encoder position, and printing output.

Author

Caleb Savard

Chris Linthacum

Date

February 2, 2022

Function Documentation

printLegend()

def taskUser_05.printLegend

(

)

Prints the available user key commands to the console.

Prints a table of available user input commands to the console to preview the available user key commands.

taskUserFcn()

def taskUser_05.taskUserFcn	(	str	task_name,
		int	period,
		shares.Share	roll_target_duty,
		shares.Share	pitch_target_duty,
		shares.Share	gFlag,
		shares.Share	sFlag,
		shares.Share	prop_gain,
		shares.Share	deriv_gain,
		shares.Share	cont_enable,
		shares.Share	euler_angles,
		shares.Share	angular_velocities,
		shares.Share	roll_target_pos,
		shares.Share	pitch_target_pos,
		PrintQueue	print_queue
	)

Main task function to control UI states.

Manage different User Input states, including Init, Read_Cmd, Zero_Encoder, and Print_Data. On function run, executes the logic of the current state and if appropriate shifts state for next run of function.

Parameters

task_name	Task name for the function to help with debugging
period	Period to run execute function at. Period defines frequency that states are executed and refreshed.
zFlag	Shared data object to encapsulate the z key being pressed. Signals that encoder should be zeroed.
pFlag	Shared data object to encapsulate the p key being pressed. Signals to print the encoder position.
dFlag	Shared data object to encapsulate the d key being pressed. Signals to print the encoder delta.
vFlag	Shared data object to encapsulate the v key being pressed. Signals to print the encoder velocity.
roll_target_duty	Shared data object to store the duty cycle for motor 1.
pitch_target_duty	Shared data object to store the duty cycle for motor 2.
cFlag	Shared data object to encapsulate the c key being pressed. Signals to clear a motor fault.
gFlag	Shared data object to encapsulate the g key being pressed. Signals to begin data collection.
tFlag	Shared data object to encapsulate the t key being pressed. Starts the testing interface.
sFlag	Shared data object to encapsulate the s key being pressed. Signals to end data collection prematurely.
dataPrint	Shared data object to store the recorded encoder data. Stores both the position data and time values.
testData	Shared data object to act as a flag to record avg velocity and to store the velocity data during testing.
target_val	Shared data object to hold the target velocity value
prop_gain	Shared data object to hold the proportional gain for the controllerTask
cont_enable	Shared data object to specificy whether closed-loop controller is enabled (True) or not
input_signal	Shared data object to store the encoder velocity @yield state If task ran, yields state the function is now in. If task did not evaluate, returns None.