main.py File Reference

Runs the priority task scheduler. More...

Variables
list	main.periods = [ 11, 5, 5, 11, 30]
	A list of periods that specify the frequency of tasks.
list	main.kxMatrix = [2.4, 2.9, 10.0, 0.08]
	A list of K values for the x motor.
list	main.kyMatrix = [3.5, 2.9, 13.0, 0.08]
	A list of K values for the x motor.
	main.tchPanelTask = touchPanelTask(debugFlag = False)
	Object for the Touch Panel Task.
	main.encTask = encoderTask(debugFlag = False)
	Object for theEncoder Task.
	main.motTask = motorTask(mTaskFlag = False)
	Object for the Motor Task.
	main.ctrlTask = ctrlTask(kxMatrix, kyMatrix, debugFlag = False)
	Object for the Controller Task.
	main.uiTask = uiTask(debugFlag = False)
	Object for the User Interface Task.
	main.dataColTask = dataTask(debugFlag = False)
	Object for the Data Collection Task.
	main.motorTaskObj
	Defining motorTask to be added to the Task List. More...
	main.encoderTaskObj
	Defining encoderTask to be added to the Task List. More...
	main.touchPanelTaskObj
	Defining touchPanelTask to be added to the Task List. More...
	main.ctrlTaskObj
	Defining controllerTask to be added to the Task List. More...
	main.uiTaskObj
	Defining uiTask to be added to the Task List. More...
	main.myuart = UART(2)
	Assign variable to UART port 2.

Detailed Description

Runs the priority task scheduler.

This program will automatically run on the Nucleo. This will add tasks to the cotask.py list, and then run the priority-based scheduler. This will be the location where the user could tune the gain values or adjust the periods of the tasks.
See source code here:
Main Source Code

Author

Ryan McLaughlin

Matthew Frost

Date

Originally created on 05/21/21
Last modified on 06/03/21

Variable Documentation

ctrlTaskObj

main.ctrlTaskObj

Initial value:

=  cotask.Task (ctrlTask.ctrlTaskFcn, name = 'ctrlTask', priority = 1,
                                     period = periods[3], profile = True, trace = False)

Defining controllerTask to be added to the Task List.

encoderTaskObj

main.encoderTaskObj

Initial value:

=  cotask.Task (encTask.encTaskFcn, name = 'encoderTask', priority = 1,
                                     period = periods[1], profile = True, trace = False)

Defining encoderTask to be added to the Task List.

motorTaskObj

main.motorTaskObj

Initial value:

=  cotask.Task (motTask.motorTaskFcn, name = 'motorTask', priority = 1,
                                     period = periods[0], profile = True, trace = False)

Defining motorTask to be added to the Task List.

touchPanelTaskObj

main.touchPanelTaskObj

Initial value:

=  cotask.Task (tchPanelTask.tchPanelFcn, name = 'touchPanelTask', priority = 1,
                                     period = periods[2], profile = True, trace = False)

Defining touchPanelTask to be added to the Task List.

uiTaskObj

main.uiTaskObj

Initial value:

=  cotask.Task (uiTask.uiTaskFcn, name = 'uiTask', priority = 1,
                                     period = periods[4], profile = True, trace = False)

Defining uiTask to be added to the Task List.