taskUser.py File Reference

The task that will run the user interface. More...

Functions
def	taskUser.printHelp ()
	This function outputs the GUI of encoder. More...
def	taskUser.InputDutyFCN (char_In, DUTY_str, dFlag)
	This function reads numeric data. More...
def	taskUser.InputNumberFCN (char_In, Num_str, eFlag)
	This function reads numeric data. More...
def	taskUser.taskUserFcn (taskName, period, Data, Velocity, Duty1, Duty2, clFlag, Kp, Ki, Kd, Position, Contact)
	This function serves as the main user interface. More...

Variables
	taskUser.S0_INIT = micropython.const(0)
	taskUser.S1_CMD = micropython.const(1)
	taskUser.S2_ZERO = micropython.const(2)
	taskUser.S3_POSITION = micropython.const(3)
	taskUser.S4_DELTA = micropython.const(4)
	taskUser.S5_GET = micropython.const(5)
	taskUser.S6_STOP = micropython.const(6)
	taskUser.S7_DATA = micropython.const(7)
	taskUser.S8_VEL = micropython.const(8)
	taskUser.S9_DUTY1 = micropython.const(9)
	taskUser.S10_DUTY2 = micropython.const(10)
	taskUser.S11_CLRF = micropython.const(11)
	taskUser.S12_THELP = micropython.const(12)
	taskUser.S13_TEST = micropython.const(13)
	taskUser.S14_SETOMEGA = micropython.const(14)
	taskUser.S15_SETGAIN = micropython.const(15)
	taskUser.S16_TOGGLELOOP = micropython.const(16)
	taskUser.S17_STEP = micropython.const(17)
	taskUser.S18_DATA = micropython.const(18)
	taskUser.S19_Inner_Outer_Gains = micropython.const(19)

Detailed Description

The task that will run the user interface.

This task takes in keyboard commands from the user to perform certain tasks. This allows for the user to interact with the Encoder and motor tasks to determine instanenous data or to collect data for a period of time. This is done by defining various states that perform different tasks.

@author     Jake Lesher
@author     Daniel Xu
@date       02/16/2022

Function Documentation

InputDutyFCN()

def taskUser.InputDutyFCN	(		char_In,
			DUTY_str,
			dFlag
	)

This function reads numeric data.

Based off of the inputs of the user, this function determines if the input is valid. It ignores all non-numerical inputs, except for the negative sign (-), the enter key (\r,
), the period key (.), and the backspace key (, '\x08', \x7F). It also limits the duty cycle to be between -100% and 100%.

Parameters

char_In	is the user input from the user
Duty_str	is the existing duty string that is constantly changing
dFlag	is boolean to signal if enter has been pressed

InputNumberFCN()

def taskUser.InputNumberFCN	(		char_In,
			Num_str,
			eFlag
	)

This function reads numeric data.

Based off of the inputs of the user, this function determines if the input is valid. It ignores all non-numerical inputs, except for the negative sign (-), the enter key (\r,
), the period key (.), and the backspace key (, '\x08', \x7F). It also limits the duty cycle to be between -100% and 100%.

Parameters

char_In	is the user input from the user
Duty_str	is the existing duty string that is constantly changing
dFlag	is boolean to signal if enter has been pressed

printHelp()

def taskUser.printHelp

(

)

This function outputs the GUI of encoder.

The different commands of the user interface is outputted here.

taskUserFcn()

def taskUser.taskUserFcn	(		taskName,
			period,
			Data,
			Velocity,
			Duty1,
			Duty2,
			clFlag,
			Kp,
			Ki,
			Kd,
			Position,
			Contact
	)

This function serves as the main user interface.

This functions allows for the user to communicate with the backend using shared data and queues. It allows for the user to input different commands to perform different actions like zeroing the position of the encoder, determing the instantaneous position of the encoder, the change of position from the most immediate last position to the current position, and collect data.

Parameters

taskName	is the name associated the with the taskUser in main.
period	is the frequency of which the taskUser is to be run.
zFlag	is the shared variable that communicates the taskEncoder to determine whether the encoder should be zeroed or not.
Data	is the share of positional data with taskEncoder.py.
Delta	is the share of the delta value with taskEncoder.py.
Velocity	is the share of the velocity value with taskEncoder.py
Duty1	is the shared queue containing the requested duty cycle percentage for motor 1.
Duty2	is the shared queue containing the requested duty cycle percentage for motor 2.
cFlag	is a boolean to signal the clearing of fault conditions