controllerTask.controllerTask Class Reference

Controller task class. More...

Public Member Functions
def	__init__ (self, controllerPeriod, debugFlag=False)
	Constructor for controller task. More...
def	run (self)
	Main run method for controller task. More...
def	transitionTo (self, newState)
	Method for transitioning states. More...
def	loadData (self, refFileName)
	Method for loaading resampled data into arrays. More...
def	interpolate (self, t0, iStart)
	Method for interpolating from reference data. More...

Public Attributes
	enc1
	First encoder object.
	enc2
	Second encoder object.
	mot1
	First motor object.
	mot2
	Second motor object.
	control
	Controller object.
	KpPrime
	Velocity feedback constant.
	KiPrime
	Position feedback constant.
	debugFlag
	Debugging flag for print statements in Putty.
	state
	Finite state machine needs a state variable to regularly update as state transitions occur.
	controllerPeriod
	Controller period.
	currentTime
	Current absolute time in microseconds.
	zeroTime
	Set refrence point for data collection (in microseconds)
	lastTime
	Previous time, used for period mechanism.
	nextTime
	Next time, used for period mechanism.
	lastIndex
	Index variable for interpolation. More...
	J1
	J summation portion for encoder 1. More...
	J2
	J summation portion for encoder 2.
	tRef
	Array for storing refrence data time values, holds type float.
	posRef
	Array for storing refrence data position values, holds type float.
	speedRef
	Array for storing refrence data speed values, holds type float.
	elapsedTime
	Time since data collection began.
	enc1Pos
	Current encoder 1 position.
	enc2Pos
	Current encoder 2 position.
	enc1Omega
	Current encoder 1 speed.
	enc2Omega
	Current encoder 2 speed.
	mot1DutyNew
	New motor 1 duty cycle, to be sent to motor object.
	mot2DutyNew
	New motor 2 duty cycle, to be sent to motor object.

Static Public Attributes
int	S0_INIT = 0
	Initial state.
int	S1_CONTROLLER_OFF = 1
	Controller off state.
int	S2_CONTROLLER_ON = 2
	Controller operational state.

Detailed Description

Controller task class.

This class uses instances of three different drivers for encoders, motors, and controllers. It is used in conjuction with a uiTask from the main file for this project

Constructor & Destructor Documentation

__init__()

def controllerTask.controllerTask.__init__	(		self,
			controllerPeriod,
			debugFlag = False
	)

Constructor for controller task.

Parameters

controllerPeriod	Controller period, must be slower than UI period
debugFlag	Debugging flag related to print statements in Putty

Member Function Documentation

interpolate()

def controllerTask.controllerTask.interpolate	(		self,
			t0,
			iStart
	)

Method for interpolating from reference data.

This method quickly interpolates using a short for loop (should only run through a few possibilites before reaching the correct value) from the reference data set.

Parameters

t0	Time query point for interpolation
iStart	Last index value from interpolation, used as a starting point for next interpolation speed up code

Returns

Returns the interpolated values for position and speed, as well as the last index value to start at in the next cycle

loadData()

def controllerTask.controllerTask.loadData	(		self,
			refFileName
	)

Method for loaading resampled data into arrays.

This method strips and splits the reference data from a csv file, and places time, position, and speed data into seperate arrays for use in interpolation

Parameters

refFileName

File name for CSV loaded onto Nucleo that contains reference data (resampled)

run()

def controllerTask.controllerTask.run

(

self

)

Main run method for controller task.

Called as fast as possible from a main file, and operates on period defined in constructor

transitionTo()

def controllerTask.controllerTask.transitionTo	(		self,
			newState
	)

Method for transitioning states.

The method will reassign the self.state variable when directed to transition.

Parameters

newState

is the state to transition to

Member Data Documentation

J1

controllerTask.controllerTask.J1

J summation portion for encoder 1.

This value is iterated upon each time the controller is updated

lastIndex

controllerTask.controllerTask.lastIndex

Index variable for interpolation.

Instead of searching through the entire reference data set, start at the last index value

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

• controllerTask.py