LabFF_task_IMU.Task_IMU Class Reference

IMU task. More...

Public Member Functions
def	__init__ (self, period_IMU, IMU_obj, state_vect_x, calib_IMU_flag, state_vect_y)
	Constructs an IMU task. More...
def	run (self)
	Runs one iteration of the FSM.

Public Attributes
	period_IMU
	The frequency of the IMU task. More...
	IMU_obj
	The IMU object. More...
	calib_IMU_flag
	A boolean flag used to start IMU calibration. More...
	state_vect_x
	A shared list used to define state vector x. More...
	state_vect_y
	A shared list used to define state vector y. More...
	runs
	Sets the number of runs to 0. More...
	state
	Sets initial state to State 0. More...

Detailed Description

IMU task.

Implements a finite state machine for the IMU task using the IMU driver to calibrate and collect IMU readings

Constructor & Destructor Documentation

__init__()

def LabFF_task_IMU.Task_IMU.__init__	(		self,
			period_IMU,
			IMU_obj,
			state_vect_x,
			calib_IMU_flag,
			state_vect_y
	)

Constructs an IMU task.

Interfaces with IMU attached to top of platform

Parameters

period_IMU	The period, in microseconds, between runs of the IMU task
IMU_obj	IMU object created to interface with IMU task
calib_IMU_flag	A boolean flag used to enable IMU calibration
state_vect_x	List used to define state vector x
state_vect_y	List used to define state vector y

Member Data Documentation

calib_IMU_flag

LabFF_task_IMU.Task_IMU.calib_IMU_flag

A boolean flag used to start IMU calibration.

Works with the task IMU and user interface to enable IMU calibration

IMU_obj

LabFF_task_IMU.Task_IMU.IMU_obj

The IMU object.

This IMU driver was defined in the main.py file

period_IMU

LabFF_task_IMU.Task_IMU.period_IMU

The frequency of the IMU task.

Defines variable that specifies timer frequency

runs

LabFF_task_IMU.Task_IMU.runs

Sets the number of runs to 0.

Defines a variable to keep track of runs

state

LabFF_task_IMU.Task_IMU.state

Sets initial state to State 0.

FSM starts at State 0, where IMU data is inputted into state vectors

state_vect_x

LabFF_task_IMU.Task_IMU.state_vect_x

A shared list used to define state vector x.

Contains variables for x position, theta y, x velocity, and angular velocity (theta y dot)

state_vect_y

LabFF_task_IMU.Task_IMU.state_vect_y

A shared list used to define state vector y.

Contains variables for y position, theta x, y velocity, and angular velocity (theta x dot)

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

• LabFF_task_IMU.py