PC_FrontEnd.py File Reference

Set up UI between Spyder and Nucleo to collect and plot data. More...

Functions
def	PC_FrontEnd.sendChar (last_key)
	Sends a string through serial to Nucleo. More...
def	PC_FrontEnd.kb_cb (key)
	Callback function inside keyboard module. More...
def	PC_FrontEnd.writeToCSV (data, filename)
	Strip and split the data into a csv file from the Nucleo. More...
def	PC_FrontEnd.plotData (csvFileName, col1, col2, y1label, y2label, plotTitle, fileName, Kp, Ki, J)
	Plot the position and speed data from the encoders. More...
def	PC_FrontEnd.sampleCSV (refCSV, ctrlPeriod, filename)
	Sample the reference data at a lower resolution. More...

Variables
	PC_FrontEnd.ser = serial.Serial(port='COM5', baudrate=115273, timeout=1)
	Set up serial communication through serial command.
bool	PC_FrontEnd.introMessage = True
	keeps track of if the intro message should be displayed
	PC_FrontEnd.last_key = None
	holds the value of the current keyboard letter
string	PC_FrontEnd.refCSV = "reference.csv"
	File name of reference data.
string	PC_FrontEnd.sampledRefCSV = "sampledRefCSV.csv"
	File name of sampled reference data.
string	PC_FrontEnd.csvFileNameTotal = "LabFinalData.csv"
	File name of the exported data.
string	PC_FrontEnd.pdfFileNameEnc1 = "Enc1Plot.pdf"
	File name fo Encoder 1.
string	PC_FrontEnd.pdfFileNameEnc2 = "Enc2Plot.pdf"
	File name fo Encoder 2.
string	PC_FrontEnd.yLabelEnc1Position = 'Encoder 1 Position'
	Vertical axis label for Encoder 1 Position.
string	PC_FrontEnd.yLabelEnc2Position = 'Encoder 2 Position'
	Vertical axis label for Encoder 1 Speed.
string	PC_FrontEnd.yLabelMot1Speed = 'Motor 1 Speed'
	Vertical axis label for Encoder 2 Position.
string	PC_FrontEnd.yLabelMot2Speed = 'Motor 2 Speed'
	Vertical axis label for Encoder 2 Speed.
string	PC_FrontEnd.titleEnc1Data = 'Encoder 1 Data'
	Title of Encoder 1 plot.
string	PC_FrontEnd.titleEnc2Data = 'Encoder 2 Data'
	Title of Encoder 2 plot.
list	PC_FrontEnd.Keys = ["s","g","p","d","z","m","v","b","P","D","Z","M","V","B"]
	list the specific keys used in the front end
	PC_FrontEnd.callback
int	PC_FrontEnd.frontEndState = 0
	Small FSM state variable within the front end.
	PC_FrontEnd.dataFromNucleo = None
	The outputted data from the serial port.
int	PC_FrontEnd.Kp = 0
	Kp value used in the controller driver.
int	PC_FrontEnd.Ki = 0
	Kp value used in the controller driver.
int	PC_FrontEnd.J1 = 0
	J metric for Encoder 1.
int	PC_FrontEnd.J2 = 0
	J metric for Encoder 2.
	PC_FrontEnd.Jvalues = dataFromNucleo[1:]
	The J metrics from the controller task.

Detailed Description

Set up UI between Spyder and Nucleo to collect and plot data.

Use the serial port to send and receive data between Spyder console and Nucleo. Nucleo, when told to, will take data according to a specific function, and when prompted or timed out, will send the data back to Spyder to be plotted. See source code here: https://bitbucket.org/MatthewFrostCP/me305_bblabs/src/master/Lab_Final/PC_FrontEnd.py

Figure 1. Task Diagram for Front End

Author

Matthew Frost

Date

Originally created on 02/18/21
Last modified on 03/17/21

Function Documentation

kb_cb()

def PC_FrontEnd.kb_cb

(

key

)

Callback function inside keyboard module.

When keyboard is pressed, it automatically gets sent to the callback function to assign a variable the letter pressed.

Parameters

key	The key that was pressed to trigger the callback function.

plotData()

def PC_FrontEnd.plotData	(		csvFileName,
			col1,
			col2,
			y1label,
			y2label,
			plotTitle,
			fileName,
			Kp,
			Ki,
			J
	)

Plot the position and speed data from the encoders.

The subplot feature within matlibplot will be utilized to visualize the position and speed of the motors along with the reference data to see the difference in position and speed at all points in time.

Parameters

csvFileName	Specifies the file to grab the data from.
col1	Speciifes which column of data to plot on the x axis.
col2	Speciifes which column of data to plot on the y axis.
y1label	Specifies the vertical label for the first subplot.
y2label	Specifies the vertical label for the second subplot.
plotTitle	Specifies a plot title for the figure.
fileName	Specifies the name of what to save the figure to.
Kp	The proportional gain used in testing that is currently being plotted.
Ki	The integral gain used in testing that is currently being plotted.
J	The error metric of the tracking precision currently being plotted.

sampleCSV()

def PC_FrontEnd.sampleCSV	(		refCSV,
			ctrlPeriod,
			filename
	)

Sample the reference data at a lower resolution.

Since the data cannot be loaded entirely onto the Nucleo for memory reasons, it must be sampled at a specific rate. This allows for the high-resolution data to be reduced to a more reasonable resolution, as specified by the ctrlPeriod.

Parameters

refCSV	Filename for the reference csv file of data.
ctrlPeriod	The frequency that the data should be sampled.
filename	The specific file to save the data to.

sendChar()

def PC_FrontEnd.sendChar

(

last_key

)

Sends a string through serial to Nucleo.

When keyboard is triggered, encode that letter and send it through serial to the Nucleo to read.

Parameters

last_key

The current key that was pressed.

writeToCSV()

def PC_FrontEnd.writeToCSV	(		data,
			filename
	)

Strip and split the data into a csv file from the Nucleo.

After data collection is finished, the data must be stripped and split in order to write to a csv file.

Parameters

data	The data from the serial port that needs to be saved into the CSV.
filename	The specific file to save the data to.