taskIMU.py File Reference

The task that obtains roll, pitch, and heading data from the BNO055 IMU located on the balancing platform. More...

Functions
def	taskIMU.taskIMUFcn (taskName, period, Data, Velocity)
	This function interacts with the driver to update the position. More...

Detailed Description

The task that obtains roll, pitch, and heading data from the BNO055 IMU located on the balancing platform.

This task communicates with the BNO055 driver to obtain values for the roll, pitch, and heading of the platform after calibration. The IMU data is interpreted and sent off as shares to the other tasks.

Author

Jake Lesher

Daniel Xu

Date

02/16/2022

Function Documentation

taskIMUFcn()

def taskIMU.taskIMUFcn	(		taskName,
			period,
			Data,
			Velocity
	)

This function interacts with the driver to update the position.

This function calls upon the driver the update the position of the encoder frequently so that the position can be accurately determined. In addition to updating the position, it also takes the positional and delta data from the driver. Furthermore, this function also calls upon the driver to zero the position when needed.

Parameters

taskName	is the name associated the with the taskEncoder in main.
period	is the frequency of which the taskUser is to be run.
zFlag	is the shared variable that communicates the taskUser to determine whether the encoder should be zeroed or not.
Data	is the share of positional data in [rad].
Delta	is the share of change in position data in [rad].
Velocity	is the share of velocity data in [rad/s].