taskMotor.py File Reference

Task responsible for driving motor. More...

Functions
def	taskMotor.taskMotorFcn (taskName, period, ENABLE, KEYFLAG, TASKFIN, KPSHARE, KDSHARE, BALLPOS, BALLVEL, rollShare, pitchShare, rollvShare, pitchvShare)
	Motor task function. More...

Variables
	taskMotor.S0_INIT = micropython.const(0)
	taskMotor.S1_STAY = micropython.const(1)
	S1_STAY. More...

Detailed Description

Task responsible for driving motor.

Runs closed loop driver and motor driver. Reads data from touch panel and IMU, and runs through controllers to calculate duty cycles for motors. Outer loop control uses ball position from touchpad to create theta_ref values. These are passed into inner loop controllers, which output the motor duty cycles. If no ball is detected, theta_ref is zero, and the platform will balance upright.

Author

Theo Philliber

Ruodolf Rumbaoa

Date

03/18/2022

Function Documentation

taskMotorFcn()

def taskMotor.taskMotorFcn	(		taskName,
			period,
			ENABLE,
			KEYFLAG,
			TASKFIN,
			KPSHARE,
			KDSHARE,
			BALLPOS,
			BALLVEL,
			rollShare,
			pitchShare,
			rollvShare,
			pitchvShare
	)

Motor task function.

Generator function that runs through states. Instances motor drivers (x and y), and creates controllers (x/y - inner/outer). Outer loop control uses ball position from touchpad to create theta_ref values. These are passed into inner loop controllers, which output the motor duty cycles. If no ball is detected, theta_ref is zero, and the platform will balance upright.

Parameters

taskName	Name of task
period	Minimum period of time between subsequent runs of function.
ENABLE	Motor control is enabled/disabled.
KEYFLAG	Share containing value of key pressed by user.
TASKFIN	Boolean share acknowledging if an action has been completed. Used to verify synchronicity between tasks.
KPSHARE	Share containing Kp value, proportional gain.
KDSHARE	Share containing Kd value, derivative gain.
BALLPOS	Share containing tuple of ball position (x, y, contact). x and y are in mm; contact == 1 if ball is present, 0 if not.
BALLVEL	Share containing tuple of ball velocity (xdot, ydot).
rollShare	Contains value of roll angle from IMU.
pitchShare	Contains value of pitch angle from IMU.
rollvShare	Contains value of roll angular velocity from IMU.
pitchvShare	Contains value of pitch angular velocity from IMU.

Variable Documentation

S1_STAY

taskMotor.S1_STAY = micropython.const(1)

S1_STAY.

Keeps platform and ball upright. Reads IMU and touchpad data, and passes into controller classes. Uses output to set duty cycles to drive motors.