controllerTaskW3.controllerTask Class Reference

Runs the UI backend for the encoder reading and UI file. More...

Public Member Functions
def	__init__ (self, period=5000)
	Constructor of controllerTask. More...
def	run (self)
	Runs the finite state machine of the controllerTask. More...

Public Attributes
	myuart
	UART port object.
	n
	Counting variable.
	state
	State tracking variable. More...
	iteration
	Iteration variable for prompting.
	period
	Time between data point collections in microseconds.
	KpPrime
	Initializing to the default Kp stored in the shares file.
	mot_1
	Motor object.
	enc_1
	Encoder object.
	cont_1
	Controller object.
	omegaDes
	Desired omega in RPM.
	nextTime
	Timer to determine when in the future data can be collected.
	startTime
	Start time for when controllerTask.py begins to run.
	thisTime
	Timer to track current time and compare to nextTime, which is in the future.
	duty
	Duty determined by the controller.

Detailed Description

Runs the UI backend for the encoder reading and UI file.

Constructor & Destructor Documentation

__init__()

def controllerTaskW3.controllerTask.__init__	(		self,
			period = 5000
	)

Constructor of controllerTask.

This constructor takes one attribute called period. The period how many microseconds desired in between collecting data points. Example: 20000us = .02s. It is important to run this task simulataneously in frequency to the UITask as they overlap.

Parameters

period

Time between data point collection in microseconds. Could be interpretted as the period in microseconds.s

Member Function Documentation

run()

def controllerTaskW3.controllerTask.run

(

self

)

Runs the finite state machine of the controllerTask.

This finite state machine has approximately 4 states. The first state waits for a 'g' keystroke from the user to start data collection and an 'a' keystroke in case of the need to update to a new KpPrime value for the controller. The second state waits for other commands from the user like 'p', 's', 'd', 'f', 'o', 'k' 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

state

controllerTaskW3.controllerTask.state

State tracking variable.

Character that was most recently updated in the share.py file.

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

• controllerTaskW3.py