ME405_FP_ControllerTask.py File Reference

The controller task implements a full state controller to calculate the duty cycles for both motors required to balance the ball. More...

Functions
def	ME405_FP_ControllerTask.controllerTaskFun ()
	A generator function used to calculate the duty cycle of each motor. More...

Variables
	ME405_FP_ControllerTask.testTask

Detailed Description

The controller task implements a full state controller to calculate the duty cycles for both motors required to balance the ball.

The controller task reads the system state shared by the encoder task and the touch panel task. Then, it uses two full state contollers (one for the x and one for the y axis) to calculate the apropriate duty cycle for each motor to balance the ball. The duty cycles are then shared with the motor task.
source code: https://bitbucket.org/eliotBriefer/me405_term_project/src/master/Tasks/ME405_FP_ControllerTask.py

Author

Eliot Briefer @Date 6/11/2021

Function Documentation

controllerTaskFun()

def ME405_FP_ControllerTask.controllerTaskFun

(

)

A generator function used to calculate the duty cycle of each motor.

controllerTaskFun is formatted as a generator function for use with cotask.py and task_share.py.

Variable Documentation

testTask

ME405_FP_ControllerTask.testTask

Initial value:

=  cotask.Task(controllerTaskFun, name = 'controller_task_test', priority = 1,
                         period = 1000, profile = True, trace = False)