Lab4_task_motor.Task_Motor Class Reference

Motor task that creates variables for motor driver functions and parameters. More...

Public Member Functions
def	__init__ (self, period, motor_obj, motor_drv, fault_user_flag, enable_flag, step_flag, gain, L, inp_vel, meas_vel)
	Constructs a motor task. More...
def	run (self)
	Runs one iteration of the FSM.
def	transition_to (self, new_state)
	Transitions the FSM to a new state. More...

Public Attributes
	fault_user_flag
	A boolean flag used to alert user of fault for a corresponding motor. More...
	enable_flag
	A boolean flag used to enable a corresponding motor. More...
	motor_obj
	The motor object that calls motors 1 or 2. More...
	motor_drv
	The motor driver object that calls DRV8847. More...
	gain
	Variable that defines gain value. More...
	L
	Variable used to define actuation level. More...
	inp_vel
	Variable that defines input velocity. More...
	meas_vel
	Variable that defines measured velocity. More...
	step_flag
	A boolean flag used to start step response. More...
	period
	The frequency of the task. More...
	state
	Initializes starting state to be state 2. More...
	runs
	Sets the number of runs to 0. More...
	next_time
	The utime.ticks_us() value associated with the next run of the FSM. More...
	controller
	The controller object that refers to closedloop.py. More...

Detailed Description

Motor task that creates variables for motor driver functions and parameters.

Implements a finite state machine for the motor driver

Constructor & Destructor Documentation

__init__()

def Lab4_task_motor.Task_Motor.__init__	(		self,
			period,
			motor_obj,
			motor_drv,
			fault_user_flag,
			enable_flag,
			step_flag,
			gain,
			L,
			inp_vel,
			meas_vel
	)

Constructs a motor task.

The motor task is implemented as a finite state machine.

Parameters

period	The period, in microseconds, between runs of the task
motor_obj	The motor object that calls motors 1 or 2
motor_drv	The motor driver object that calls DRV8847
fault_user_flag	A boolean flag used to alert user of fault for a corresponding motor
enable_flag	A boolean flag used to enable a corresponding motor
step_flag	A boolean flag used to start step response
gain	Variable that defines gain value
L	Variable used to define actuation level
inp_vel	Variable that defines input velocity
meas_vel	Variable that defines measured velocity

Member Function Documentation

transition_to()

def Lab4_task_motor.Task_Motor.transition_to	(		self,
			new_state
	)

Transitions the FSM to a new state.

A function that transitions the FSM to a new state

Parameters

new_state

The state to transition to

Member Data Documentation

controller

Lab4_task_motor.Task_Motor.controller

The controller object that refers to closedloop.py.

Creates the controller object used to perform closed loop speed control of the motors

enable_flag

Lab4_task_motor.Task_Motor.enable_flag

A boolean flag used to enable a corresponding motor.

Used to communicate enable function between driver, motor task, and user task

fault_user_flag

Lab4_task_motor.Task_Motor.fault_user_flag

A boolean flag used to alert user of fault for a corresponding motor.

Used to indicate fault in user interface

gain

Lab4_task_motor.Task_Motor.gain

Variable that defines gain value.

Also known as Kp, or proportional gain

inp_vel

Lab4_task_motor.Task_Motor.inp_vel

Variable that defines input velocity.

This is the reference velocity inputted by the user

L

Lab4_task_motor.Task_Motor.L

Variable used to define actuation level.

This value is calculated using gain, measured angular velocity, and reference angular velocity

meas_vel

Lab4_task_motor.Task_Motor.meas_vel

Variable that defines measured velocity.

Takes the measured delta values from the encoder and divides by the period to obtain measured velocity

motor_drv

Lab4_task_motor.Task_Motor.motor_drv

The motor driver object that calls DRV8847.

This motor driver was defined in the main.py file

motor_obj

Lab4_task_motor.Task_Motor.motor_obj

The motor object that calls motors 1 or 2.

Motors 1 or 2 were defined in the main.py file

next_time

Lab4_task_motor.Task_Motor.next_time

The utime.ticks_us() value associated with the next run of the FSM.

Defines a variable that adds the period to the ongoing timer

period

Lab4_task_motor.Task_Motor.period

The frequency of the task.

Defines variable that specifies timer frequency

runs

Lab4_task_motor.Task_Motor.runs

Sets the number of runs to 0.

Defines a variable to keep track of runs

state

Lab4_task_motor.Task_Motor.state

Initializes starting state to be state 2.

Starts timer.

Motors begin in the stop state

An increasing microsecond counter with an arbitrary reference point

step_flag

Lab4_task_motor.Task_Motor.step_flag

A boolean flag used to start step response.

Works with the motor task and user interface to communicate step function performance

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The documentation for this class was generated from the following file:

• Lab4_task_motor.py