User interface task for cooperative multitasking example. More...

Classes
class	Lab4_task_userinterface.Task_User
	User interface task for data collection and interaction with task encoder, task motor, and task motor driver. More...

Variables
int	Lab4_task_userinterface.S0_init = 0
	State 0 of the user interface task. More...

int	Lab4_task_userinterface.S1_wait_for_char = 1
	State 1 of the user interface task. More...

int	Lab4_task_userinterface.S2_collect_data_1 = 2
	State 2 of the user interface task. More...

int	Lab4_task_userinterface.S3_collect_data_2 = 3
	State 3 of the user interface task. More...

int	Lab4_task_userinterface.S4_print_data_1 = 4
	State 4 of the user interface task. More...

int	Lab4_task_userinterface.S5_print_data_2 = 5
	State 5 of the user interface task. More...

int	Lab4_task_userinterface.S6_zero_enc_1 = 6
	State 6 of the user interface task. More...

int	Lab4_task_userinterface.S7_zero_enc_2 = 7
	State 7 of the user interface task. More...

int	Lab4_task_userinterface.S8_print_enc_pos_1 = 8
	State 8 of the user interface task. More...

int	Lab4_task_userinterface.S9_print_enc_pos_2 = 9
	State 9 of the user interface task. More...

int	Lab4_task_userinterface.S10_print_enc_delta_1 = 10
	State 10 of the user interface task. More...

int	Lab4_task_userinterface.S11_print_enc_delta_2 = 11
	State 11 of the user interface task. More...

int	Lab4_task_userinterface.S12_enable = 12
	State 12 of the user interface task. More...

int	Lab4_task_userinterface.S13_input_gain_1 = 13
	State 13 of the user interface task. More...

int	Lab4_task_userinterface.S14_input_gain_2 = 14
	State 14 of the user interface task. More...

int	Lab4_task_userinterface.S15_input_vel_1 = 15
	State 15 of the user interface task. More...

int	Lab4_task_userinterface.S16_input_vel_2 = 16
	State 16 of the user interface task. More...

int	Lab4_task_userinterface.S17_fault_occurs = 17
	State 17 of the user interface task. More...

int	Lab4_task_userinterface.S18_fault_cleared = 18
	State 18 of the user interface task. More...

int	Lab4_task_userinterface.S19_step_response_1 = 19
	State 19 of the user interface task. More...

int	Lab4_task_userinterface.S20_step_response_2 = 20
	State 20 of the user interface task. More...

int	Lab4_task_userinterface.S21_step_print = 21
	State 21 of the user interface task. More...

Detailed Description

User interface task for cooperative multitasking example.

Implements a finite state machine that runs a data collection interface to interact with the encoder, motor, motor driver, and controller.

Author: Faith Chau; Luisa Chiu

Date: October 19, 2021

Lab 4 Task User FSM

Variable Documentation

◆ S0_init

int Lab4_task_userinterface.S0_init = 0

State 0 of the user interface task.

Creates an initial state condition for state 0.

◆ S10_print_enc_delta_1

int Lab4_task_userinterface.S10_print_enc_delta_1 = 10

State 10 of the user interface task.

Creates an initial state condition for state 10. State 10 prints encoder 1 delta.

◆ S11_print_enc_delta_2

int Lab4_task_userinterface.S11_print_enc_delta_2 = 11

State 11 of the user interface task.

Creates an initial state condition for state 11. State 11 prints encoder 2 delta.

◆ S12_enable

int Lab4_task_userinterface.S12_enable = 12

State 12 of the user interface task.

Creates an initial state condition for state 12. State 12 enables motors 1 and 2.

◆ S13_input_gain_1

int Lab4_task_userinterface.S13_input_gain_1 = 13

State 13 of the user interface task.

Creates an initial state condition for state 13. State 13 prompts user input for the proportional gain for motor 1.

◆ S14_input_gain_2

int Lab4_task_userinterface.S14_input_gain_2 = 14

State 14 of the user interface task.

Creates an initial state condition for state 14. State 14 prompts user input for the proportional gain for motor 2.

◆ S15_input_vel_1

int Lab4_task_userinterface.S15_input_vel_1 = 15

State 15 of the user interface task.

Creates an initial state condition for state 15. State 15 prompts user input for the angular velocity setpoint for motor 1.

◆ S16_input_vel_2

int Lab4_task_userinterface.S16_input_vel_2 = 16

State 16 of the user interface task.

Creates an initial state condition for state 16. State 16 prompts user input for the angular velocity setpoint for motor 2.

◆ S17_fault_occurs

int Lab4_task_userinterface.S17_fault_occurs = 17

State 17 of the user interface task.

Creates an initial state condition for state 17. State 17 alerts user of a fault condition.

◆ S18_fault_cleared

int Lab4_task_userinterface.S18_fault_cleared = 18

State 18 of the user interface task.

Creates an initial state condition for state 18. State 18 tells user that the fault condition is cleared.

◆ S19_step_response_1

int Lab4_task_userinterface.S19_step_response_1 = 19

State 19 of the user interface task.

Creates an initial state condition for state 19. State 19 runs the step_response for 10 seconds; it collects and stores time, measured velocity, and PWM level for motor 1.

◆ S1_wait_for_char

int Lab4_task_userinterface.S1_wait_for_char = 1

State 1 of the user interface task.

Creates an initial state condition for state 1. This state waits for user input.

◆ S20_step_response_2

int Lab4_task_userinterface.S20_step_response_2 = 20

State 20 of the user interface task.

Creates an initial state condition for state 20. State 20 runs the step_response for 10 seconds; it collects and stores time, measured velocity, and PWM level for motor 2.

◆ S21_step_print

int Lab4_task_userinterface.S21_step_print = 21

State 21 of the user interface task.

Creates an initial state condition for state 21. State 21 prints motor data for the step response.

◆ S2_collect_data_1

int Lab4_task_userinterface.S2_collect_data_1 = 2

State 2 of the user interface task.

Creates an initial state condition for state 2. State 2 collects and stores time and encoder 1 position data.

◆ S3_collect_data_2

int Lab4_task_userinterface.S3_collect_data_2 = 3

State 3 of the user interface task.

Creates an initial state condition for state 3. State 3 collects and stores time and encoder 2 position data.

◆ S4_print_data_1

int Lab4_task_userinterface.S4_print_data_1 = 4

State 4 of the user interface task.

Creates an initial state condition for state 4. State 4 prints time, position, and delta for encoder 1.

◆ S5_print_data_2

int Lab4_task_userinterface.S5_print_data_2 = 5

State 5 of the user interface task.

Creates an initial state condition for state 5. State 5 prints time, position, and delta for encoder 2.

◆ S6_zero_enc_1

int Lab4_task_userinterface.S6_zero_enc_1 = 6

State 6 of the user interface task.

Creates an initial state condition for state 6. State 6 sets encoder 1 position to zero.

◆ S7_zero_enc_2

int Lab4_task_userinterface.S7_zero_enc_2 = 7

State 7 of the user interface task.

Creates an initial state condition for state 7. State 7 sets encoder 2 position to zero.

◆ S8_print_enc_pos_1

int Lab4_task_userinterface.S8_print_enc_pos_1 = 8

State 8 of the user interface task.

Creates an initial state condition for state 8. State 8 prints encoder 1 position data.

◆ S9_print_enc_pos_2

int Lab4_task_userinterface.S9_print_enc_pos_2 = 9

State 9 of the user interface task.

Creates an initial state condition for state 9. State 9 prints encoder 2 position data.

Classes

Variables