UITaskW3.UITask Class Reference

Runs the UI backend to collect user data and communicate with share.py. More...

Public Member Functions
def	__init__ (self, collectionDuration=15, frequency=200)
	Constructor of UITask. More...
def	run (self)
	Runs the finite state machine of the UITask. More...

Public Attributes
	collectionDuration
	Total number of data points to be collected if uninterrupted.
	n
	Counting variable.
	state
	State tracking variable. More...
	iteration
	Iteration variable for prompting. More...
	newKp
	Inputted Kp value from user.
	position1
	Array of data points which are absolute position [degrees].
	omega1
	Array of data points which are omega values [RPM].
	times1
	Array of data points which are timestamps when the encoder updates [s].

Static Public Attributes
	myuart = UART(2)
	UART port object.

Detailed Description

Runs the UI backend to collect user data and communicate with share.py.

Constructor & Destructor Documentation

__init__()

def UITaskW3.UITask.__init__	(		self,
			collectionDuration = 15,
			frequency = 200
	)

Constructor of UITask.

This construction takes two attributes called collectionDuration and frequency. collectionDuration is the amount of time in seconds the user wishes to collect data. The frequency is data collection cycles per second in [Hz]. It is important to align this number with the rate at which the controller task is running.

Parameters

collectionDuration	Time for how long the task runs [s].
frequency	Frequency at which the controllerTask.py is collecting data [Hz].

Member Function Documentation

run()

def UITaskW3.UITask.run

(

self

)

Runs the finite state machine of the UITask.

This finite state machine has approximately 4 states. The first state waits for a 'g' keystroke from the user to start data collection or an 'a' keystroke to update the Kp. The second state waits for other commands from the user like 'p', 's', 'd', 'k', 'f', 'o', and 'z'. Once done collecting data, the third state send the data collected, which is waiting in a queue in share.py, via the UART port to the front end.

Member Data Documentation

iteration

UITaskW3.UITask.iteration

Iteration variable for prompting.

Character read in from serial port.

state

UITaskW3.UITask.state

State tracking variable.

String text of time and values formatted as '{:}, {:}\r
' to be sent to user.

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

• UITaskW3.py