main.py File Reference

Reads ADC pin on Nucleo and saves data in queue. More...

Functions
def	main.position_check ()
	checks the current positon before getting the next coordinate More...
def	main.motor1_func ()
	instantiates motor 1 object More...
def	main.motor2_func ()
	instantiates motor 2 object More...
def	main.ISR_SCREEN (IRQ_src)
	sets interrupt every millisecond where ADC value is read More...

Variables
list	main.xypos = []
	main.theta1 = task_share.Share('f', thread_protect = False, name = "Motor Angle 1")
	main.theta2 = task_share.Share('f', thread_protect = False, name = "Motor Angle 2")
	main.next_theta1 = task_share.Share('f', thread_protect = False, name = "Subsequent Motor Angle 1")
	main.next_theta2 = task_share.Share('f', thread_protect = False, name = "Subsequent Motor Angle 2")
	main.list_theta1
	main.list_theta2
	main.next_x
	main.next_y
	main.ENA = pyb.Pin (pyb.Pin.board.PA10, pyb.Pin.OUT_PP)
	main.IN1 = pyb.Pin (pyb.Pin.board.PB4, pyb.Pin.OUT_PP)
	main.IN2 = pyb.Pin (pyb.Pin.board.PB5, pyb.Pin.OUT_PP)
	main.tim3 = pyb.Timer (3, freq=20000)
	main.ENB = pyb.Pin (pyb.Pin.board.PC1, pyb.Pin.OUT_PP)
	main.IN3 = pyb.Pin (pyb.Pin.board.PA0, pyb.Pin.OUT_PP)
	main.IN4 = pyb.Pin (pyb.Pin.board.PA1, pyb.Pin.OUT_PP)
	main.tim5 = pyb.Timer (5, freq=20000)
	main.mot1 = motor_drv.MotorDriver(ENA, IN1, IN2, tim3)
	main.enc1 = EncoderReader.EncoderReader(1)
	main.controller1 = controlloop.ClosedLoop(10, 0)
	main.mot2 = motor_drv.MotorDriver(ENB, IN3, IN4, tim5)
	main.enc2 = EncoderReader.EncoderReader(2)
	main.controller2 = controlloop.ClosedLoop(10, 0)
	main.pinC2 = pyb.Pin (pyb.Pin.board.PC2, pyb.Pin.IN)
	main.pinC3 = pyb.Pin (pyb.Pin.board.PC3, pyb.Pin.IN)
	main.pinC0 = pyb.Pin(pyb.Pin.board.PC0, pyb.Pin.OUT_PP)
	main.pinB3 = pyb.Pin(pyb.Pin.board.PB3, pyb.Pin.IN)
	main.tim1 = pyb.Timer (1, freq=100)
	main.filename = user_task.run()
	main.coord_values = x_yimport.x_yimport(filename)
	main.x = coord_values[0]
	main.y = coord_values[1]
int	main.constant = 8384/(2*3.1415)*20/110
	main.output_kin = kinematics.inv_kinematics(x[i], y[i])
	main.mot_task1
	main.mot_task2
	main.pos_checker3
	main.vcp = pyb.USB_VCP ()

Detailed Description

Reads ADC pin on Nucleo and saves data in queue.

An adapted main file from basic_tasks.py.

This file instantiates the output and analog read out pins. The ADC pin value is read every millisecond then the corresponding data entry gets added to the queue.

Author

Jeremy Baechler

Kendall Chappell

Matthew Wimberley

Date

16-Feb-2022

This file contains a demonstration program that runs some tasks, an inter-task shared variable, and a queue. There are 3 tasks that run our SCARA robot and we added motor control functions that act as the scheduler.

Author

Jeremy Baechler

Kendall Chappell

Matthew Wimberley

Date

31-Jan-2022

Function Documentation

ISR_SCREEN()

def main.ISR_SCREEN

(

IRQ_src

)

sets interrupt every millisecond where ADC value is read

Once data is collected for one second, "Stop Transmission" line is sent where CTRL-C and CTRL-D commands are sent over serial communication.

Parameters

IRQ_src

The cause of the interrupt

motor1_func()

def main.motor1_func

(

)

instantiates motor 1 object

This function reads the encoder data, which the controller uses to find the new PWM, which then sets the new motor speed.

motor2_func()

def main.motor2_func

(

)

instantiates motor 2 object

This function reads the encoder data, which the controller uses to find the new PWM, which then sets the new motor speed.

position_check()

def main.position_check

(

)

checks the current positon before getting the next coordinate

Using the shared values of theta1 and theta2, we know what our next setpoint values are after performing inverse kinematics on the x and y coordinates to obtain the theta1 and theta2 values. We then check to see if the motors have been at the same setpoint, at which point the next theta values will be fed in.

Variable Documentation

list_theta1

main.list_theta1

Initial value:

=  task_share.Queue('f', 100, thread_protect = False, overwrite = False,
                             name = 'theta1-coordinates')

list_theta2

main.list_theta2

Initial value:

=  task_share.Queue('f', 100, thread_protect = False, overwrite = False,
                             name = 'theta2-coordinates')

mot_task1

main.mot_task1

Initial value:

=  cotask.Task (motor1_func, name = 'MotorTask_1', priority = 1,
                          period = 10, profile = True, trace = False)

mot_task2

main.mot_task2

Initial value:

=  cotask.Task (motor2_func, name = 'MotorTask_2', priority = 1,
                            period = 10, profile = True, trace = False)

next_x

main.next_x

Initial value:

=  task_share.Queue('f', 100, thread_protect = False, overwrite = False,
                             name = 'x-coordinates')

next_y

main.next_y

Initial value:

=  task_share.Queue('f', 100, thread_protect = False, overwrite = False,
                             name = 'y-coordinates')

pos_checker3

main.pos_checker3

Initial value:

=  cotask.Task (position_check, name = 'Position_Checker', priority = 2,
                                period = 5, profile = True, trace = False)