main.py File Reference

A scheduler to manage the tasks needed to balance the ball. More...

Namespaces
	Lab0xFF
	This package contains touchPanel.py, motor.py, encoder.py, main.py, controller.py.

Functions
def	main.encode_task ()
	A task to update the angle of the motors. More...
def	main.motor_task ()
	A task to run the motors at the correct duty cycle. More...
def	main.touch_task ()
	A task to check the balls position on the touch screen. More...
def	main.ctrl_task ()
	A task to determine the needed Duty cycle according to the sensor data. More...
def	main.data_task ()
	A task responsible for collecting data and storing it in appropriate format. More...
def	main.UI_task ()
	A task responsible for interaction between the user and the program. More...

Variables
list	main.x_vals = []
	List containing the x-axis positions.
list	main.theta_x_vals = []
	List containing the x-axis angles.
list	main.x_dot_vals = []
	List containing the x-axis velocities.
list	main.theta_x_dot_vals = []
	List containing the x-axis angular velocities.
list	main.y_vals = []
	List containing the y-axis positions.
list	main.theta_y_vals = []
	List containing the y-axis angles.
list	main.y_dot_vals = []
	List containing the y-axis velocities.
list	main.theta_y_dot_vals = []
	List containing the y-axis angular velocities.
	main.queue_x
	Initializes the Queues and Task to run the Scheduler. More...
	main.queue_y
	main.queue_ang
	main.queue_vang
	main.queue_motor1
	main.queue_motor2
	main.queue_end
	main.task_enc
	Instantiate each task. More...
	main.task_mot
	main.task_tp
	main.task_ctrl
int	main.debug_count = 0
	Create the task list. More...

Detailed Description

A scheduler to manage the tasks needed to balance the ball.

Function Documentation

ctrl_task()

def main.ctrl_task

(

)

A task to determine the needed Duty cycle according to the sensor data.

Initializes the Controller objects. Using the previous and current x and y values from the Touch Panel, calculates the velocities and angular velocities. Uses those to calculate the Duty Cycles to input into the motors.

Returns

Does not return anything. Yields the state at the end so that the appropriate state is operated in the next iteration.

data_task()

def main.data_task

(

)

A task responsible for collecting data and storing it in appropriate format.

Creates a CSV file and writes into it line-by-line. The line can be formatted to display however many values, but the number of values displayed is directly proportional to memory consumption. So if more values are displayed per line, then the total number of test values will decrease.

Returns

Does not return anything.

encode_task()

def main.encode_task

(

)

A task to update the angle of the motors.

Initializes the encoders in the Encoder Object. Updates the encoders and gets the positions of the encoders in a tuple. Uses those values to determine angles and angular velocities.

Returns

Does not return anything. Yields the state at the end so that the appropriate state is operated in the next iteration.

motor_task()

def main.motor_task

(

)

A task to run the motors at the correct duty cycle.

Initializes both motors in the Motor object. Checks if any of the motors are in the task queue. If they are, then gets the duty cycle and sets the direction and power to abalnce the ball. If motor is disabled, then clears the fault.

Returns

Does not return anything. Yields the state at the end so that the appropriate state is operated in the next iteration.

touch_task()

def main.touch_task

(

)

A task to check the balls position on the touch screen.

Initializes the Touch Panel. Gets the data from the touch panel, puts the data into the task queue to measure the positions and velocities.

Returns

Does not return anything. Yields the state at the end so that the appropriate state is operated in the next iteration.

UI_task()

def main.UI_task

(

)

A task responsible for interaction between the user and the program.

Runs the schedular with the chosen scheduling algorithm as soon as a character is sent through the serial port. Quits if another character is sent.

Returns

Does not return anything.

Variable Documentation

debug_count

int main.debug_count = 0

Create the task list.

Run the memory garbage collector to ensure memory is as defragmented as possible before the real-time scheduler is started

queue_ang

main.queue_ang

Initial value:

=  task_share.Queue ('f', 2, thread_protect = False, overwrite = True,
                           name = "Queue_2")

queue_end

main.queue_end

Initial value:

=  task_share.Queue ('f', 1, thread_protect = False, overwrite = True,
                           name = "Queue_6")

queue_motor1

main.queue_motor1

Initial value:

=  task_share.Queue ('f', 1, thread_protect = False, overwrite = True,
                           name = "Queue_4")

queue_motor2

main.queue_motor2

Initial value:

=  task_share.Queue ('f', 1, thread_protect = False, overwrite = True,
                           name = "Queue_5")

queue_vang

main.queue_vang

Initial value:

=  task_share.Queue ('f', 2, thread_protect = False, overwrite = True,
                           name = "Queue_3")

queue_x

main.queue_x

Initial value:

=  task_share.Queue ('f', 1, thread_protect = False, overwrite = True,
                           name = "Queue_0")

Initializes the Queues and Task to run the Scheduler.

Create Queues to share data between each task.

queue_y

main.queue_y

Initial value:

=  task_share.Queue ('f', 1, thread_protect = False, overwrite = True,
                           name = "Queue_1")

task_ctrl

main.task_ctrl

Initial value:

=  cotask.Task (ctrl_task, name = 'Task_ctrl', priority = 2,
                         period = 15, profile = True, trace = False)

task_enc

main.task_enc

Initial value:

=  cotask.Task (encode_task, name = 'Task_enc', priority = 3,
                         period = 40, profile = True, trace = False)

Instantiate each task.

task_mot

main.task_mot

Initial value:

=  cotask.Task (motor_task, name = 'Task_mot', priority = 2,
                         period = 15, profile = True, trace = False)

task_tp

main.task_tp

Initial value:

=  cotask.Task (touch_task, name = 'Task_tp', priority = 3,
                         period = 40, profile = True, trace = False)