User interface script for data collection and reception from Nucleo. More...

Functions
def	userInterfaceFrontW4.gCallback (key)
	Callback function for the 'g' key release. More...

def	userInterfaceFrontW4.sCallback (key)
	Callback function for the 's' key press. More...

def	userInterfaceFrontW4.pCallback (key)
	Callback function for the 'p' key press. More...

def	userInterfaceFrontW4.dCallback (key)
	Callback function for the 'd' key press. More...

def	userInterfaceFrontW4.zCallback (key)
	Callback function for the 'z' key press. More...

def	userInterfaceFrontW4.aCallback (key)
	Callback function for the 'a' key press. More...

def	userInterfaceFrontW4.iCallback (key)
	Callback function for the 'i' key press. More...

def	userInterfaceFrontW4.kCallback (key)
	Callback function for the 'k' key press. More...

def	userInterfaceFrontW4.fCallback (key)
	Callback function for the 'f' key press. More...

def	userInterfaceFrontW4.oCallback (key)
	Callback function for the 'o' key press. More...

def	userInterfaceFrontW4.bCallback (key)
	Callback function for the 'b' key press. More...

def	userInterfaceFrontW4.readCSV (csvFile='cleanedReference67Hz.csv')
	Function to read 3 columns of data from .csv file. More...

def	userInterfaceFrontW4.jMetric (refOmega, actOmega, refPos, actPos)
	Function to calculate the metric J. More...

Variables
	userInterfaceFrontW4.last_key = None
	Keeping track of last key actuated.

int	userInterfaceFrontW4.n = 0
	Counting variable.

list	userInterfaceFrontW4.dataSet = []
	Housing for data before it is cleaned.

	userInterfaceFrontW4.actualTime = array('f', [])
	Actual time data that is read in through serial.

	userInterfaceFrontW4.position = array('f', [])
	Position values that are read in through serial.

	userInterfaceFrontW4.omega = array('f', [])
	Omega values that are read in through serial.

	userInterfaceFrontW4.Kp = array('f', [])
	Kp values that are read in through serial.

	userInterfaceFrontW4.desOmega = array('f', [])
	Desired Omega values that are read in through serial.

	userInterfaceFrontW4.refTime = array('f', [])
	Array of time from reference data.

	userInterfaceFrontW4.refOmega = array('f', [])
	Array of omegas from reference data.

	userInterfaceFrontW4.refPosition = array('f', [])
	Array of positions from reference data.

	userInterfaceFrontW4.ser = serial.Serial(port='COM9',baudrate=115273,timeout=.25)
	Serial object to communicate through VCP port.

	userInterfaceFrontW4.gCallback

	userInterfaceFrontW4.sCallback

	userInterfaceFrontW4.pCallback

	userInterfaceFrontW4.dCallback

	userInterfaceFrontW4.zCallback

	userInterfaceFrontW4.aCallback

	userInterfaceFrontW4.iCallback

	userInterfaceFrontW4.kCallback

	userInterfaceFrontW4.fCallback

	userInterfaceFrontW4.oCallback

	userInterfaceFrontW4.bCallback

	userInterfaceFrontW4.value = ser.readline().decode()
	Individual line read from Nucleo containing a variety of entries.

	userInterfaceFrontW4.POSITIONVALUE = value
	Position value recieved from Nucleo.

	userInterfaceFrontW4.DELTAVALUE = value
	Delta value recieved from Nucleo.

	userInterfaceFrontW4.ZEROTEXT = value
	Message saying the encoder has been zeroed.

	userInterfaceFrontW4.KPVALUE = value
	Kp value recieved from Nucleo.

	userInterfaceFrontW4.KIVALUE = value
	Ki value recieved from Nucleo.

	userInterfaceFrontW4.TIMEDELTA = value
	Time delta value recieved from Nucleo.

	userInterfaceFrontW4.OMEGA = value
	Omega value recieved from Nucleo.

def	userInterfaceFrontW4.J = jMetric(refOmega, omega, refPosition, position)
	Calculated J metric.

	userInterfaceFrontW4.newline
	Assists in writing new line to .csv.

	userInterfaceFrontW4.writer = csv.writer(csvfile)

Detailed Description

User interface script for data collection and reception from Nucleo.

UI Front End Finite State Machine Diagram

Author: Cole Sheedy

Date: 3/18/2021

Copyright: License info here.

Function Documentation

◆ aCallback()

def userInterfaceFrontW4.aCallback ( key )

Callback function for the 'a' key press.

If user presses the 'a' key down, the keyboard function will be enabled. We will use this callback function to send the letter 'a' and then send a Kp value for tuning. This can only be done before motor starts. If done after the default Kp will be 0.1

◆ bCallback()

def userInterfaceFrontW4.bCallback ( key )

Callback function for the 'b' key press.

If user presses the 'b' key down, the keyboard function will be enabled. We will use this callback function to send the letter 'b' to the Nucleo to retrieve the current Ki value.

◆ dCallback()

def userInterfaceFrontW4.dCallback ( key )

Callback function for the 'd' key press.

If user presses the 'd' key down, the keyboard function will be enabled. We will use this callback function to send the letter 'd' to the Nucleo to print the corrected delta value of the encoder.

◆ fCallback()

def userInterfaceFrontW4.fCallback ( key )

Callback function for the 'f' key press.

If user presses the 'f' key down, the keyboard function will be enabled. We will use this callback function to send the letter 'f' to the Nucleo to retrieve the most recent time delta.

◆ gCallback()

def userInterfaceFrontW4.gCallback ( key )

Callback function for the 'g' key release.

If user presses the 'g' key down, the keyboard function will be enabled. We will use this callback function to send the letter 'g' to the Nucleo to start data collection when the user decides to.

◆ iCallback()

def userInterfaceFrontW4.iCallback ( key )

Callback function for the 'i' key press.

If user presses the 'i' key down, the keyboard function will be enabled. We will use this callback function to send the letter 'i' and then send a Ki value for tuning. This can only be done before motor starts. If done after the default Ki will be 1.0.

◆ jMetric()

def userInterfaceFrontW4.jMetric	(	refOmega,
		actOmega,
		refPos,
		actPos
	)

Function to calculate the metric J.

This function sums the squares of the omega and position errors, then divides by the total count of samples.

Parameters

refOmega	List of reference omega.
actOmega	List of actual omega values.
refPos	List of reference positions.
actPos	List of actual positions.

Returns: Jmetric The PI-Controller performance metric.

◆ kCallback()

def userInterfaceFrontW4.kCallback ( key )

Callback function for the 'k' key press.

If user presses the 'k' key down, the keyboard function will be enabled. We will use this callback function to send the letter 'k' to the Nucleo to retrieve the current Kp value.

◆ oCallback()

def userInterfaceFrontW4.oCallback ( key )

Callback function for the 'o' key press.

If user presses the 'o' key down, the keyboard function will be enabled. We will use this callback function to send the letter 'o' to the Nucleo to retrieve the most recent omega value.

◆ pCallback()

def userInterfaceFrontW4.pCallback ( key )

Callback function for the 'p' key press.

If user presses the 'p' key down, the keyboard function will be enabled. We will use this callback function to send the letter '' to the Nucleo to print the position of the encoder.

◆ readCSV()

def userInterfaceFrontW4.readCSV ( csvFile = 'cleanedReference67Hz.csv' )

Function to read 3 columns of data from .csv file.

Parameters

csvFile Name of .csv file.

◆ sCallback()

def userInterfaceFrontW4.sCallback ( key )

Callback function for the 's' key press.

If user presses the 's' key down, the keyboard function will be enabled. We will use this callback function to send the letter 's' to the Nucleo to start data collection when the user decides to.

◆ zCallback()

def userInterfaceFrontW4.zCallback ( key )

Callback function for the 'z' key press.

If user presses the 'z' key down, the keyboard function will be enabled. We will use this callback function to send the letter 'z' to the Nucleo to zero the position of the encoder.

Functions

Variables