controllerTaskW4.controllerTask Class Reference

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

Public Member Functions
def	__init__ (self, period=15000)
	Constructor of controllerTask. More...
def	readCSV (self, csvFile='cleanedReference67Hz.csv')
	Reads in the reference position and velocity values. 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.
	iteration
	Iteration variable for prompting.
	period
	Time between data point collections in microseconds.
	size
	Total number of data points collected.
	KpPrime
	Initializing to the default Kp stored in the shares file.
	KiPrime
	Initializing to the default Ki stored in the shares file.
	mot_1
	Motor object.
	enc_1
	Encoder object.
	cont_1
	Controller object.
	refPosition
	Reference position data in array read in from .csv.
	refOmega
	Reference omega data in array read in from .csv.
	nextTime
	Timer to determine when in the future data can be collected.
	startTime
	Timer that starts once the controller task starts.
	thisTime
	Timer to track current time and compare to nextTime, which is in the future.
	duty

Detailed Description

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

Constructor & Destructor Documentation

__init__()

def controllerTaskW4.controllerTask.__init__	(		self,
			period = 15000
	)

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 to prevent latency.

Parameters

period

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

Member Function Documentation

readCSV()

def controllerTaskW4.controllerTask.readCSV	(		self,
			csvFile = 'cleanedReference67Hz.csv'
	)

Reads in the reference position and velocity values.

This function reads in column 2 and 3 of data from a .csv file. When we extract the second and third column from the reference data, we get the reference position and velocity.

Parameters

csvFile

Name of .csv file with reference data.

run()

def controllerTaskW4.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' or 'i' keystroke in case of the need to update to a new KpPrime or KiPrime value for the controller. The second state waits for other commands from the user like 'p', 's', 'd', 'f', 'o', 'b', '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.

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

• controllerTaskW4.py