nucleoSerial.nucleoSerial Class Reference

A class handles all serial communication with the PC. More...

Public Member Functions
def	__init__ (self, startState=0, batchSize=10)
	A method to initialise a nucleoSerial object. More...
def	runStateMachine (self)
	A method to run through the serial coms state machine logic once.
def	genData (self, tick)
	A debugging method to imitate data from an encoder. More...
def	sendData (self, i)
	A method to write all of the data in self.serVal to serial line by line as comma seperated values.
def	transitionStates (self, st, customMessage="")
	A method that changes the state machine state, self.state and prints the state transition message. More...

Public Attributes
	batchSize
	The chunk size to send data over serial in, in lines. More...
	myuart
	pyb.UART object for handling serial communications.
	state
	The state to start the serial coms task state machine in. More...
	lastTransition
	The last time (in ms from startup) that the state machine transitioned states.
	serVal
	A nested List of values to write to serial. More...
	currentIndx

Static Public Attributes
dictionary	stateMessages
	A Dictionary of messages to display at each state change. More...

Detailed Description

A class handles all serial communication with the PC.

The nucleoSerial class is a task that listens for ASCII characters from the PC, writes position data to serial, and updates values in shares.py to interact with the controller tasks.

Constructor & Destructor Documentation

__init__()

def nucleoSerial.nucleoSerial.__init__	(		self,
			startState = 0,
			batchSize = 10
	)

A method to initialise a nucleoSerial object.

Parameters

startState	The state to start the serial coms task state machine in.
batchSize	The chunk size to send data over serial in, in lines.

Member Function Documentation

genData()

def nucleoSerial.nucleoSerial.genData	(		self,
			tick
	)

A debugging method to imitate data from an encoder.

genData calculates the value of a decaying sin wave at a given time.

Parameters

tick	The time, in ms.

Returns

A tupel of the form (time t, (seconds), f(t))

transitionStates()

def nucleoSerial.nucleoSerial.transitionStates	(		self,
			st,
			customMessage = ""
	)

A method that changes the state machine state, self.state and prints the state transition message.

Parameters

st	The state to transition to. @customMessage An additional message to print before the state transition message.

Member Data Documentation

batchSize

nucleoSerial.nucleoSerial.batchSize

The chunk size to send data over serial in, in lines.

nucleoSerial objects are meant to be called as fast as possible, so small (<100) batch sizes are prefered in order to prevent memory allocation errors

serVal

nucleoSerial.nucleoSerial.serVal

A nested List of values to write to serial.

Format is [[row1], [row2], ...]

state

nucleoSerial.nucleoSerial.state

The state to start the serial coms task state machine in.

The time since last state transition, in floating point seconds.

stateMessages

dictionary nucleoSerial.nucleoSerial.stateMessages

static

Initial value:

=  {
        0 : "NUCLEO: Waiting for serial input.",
        1 : "NUCLEO: collecting data.",
        2 : "NUCLEO: Transmiting data."
        }

A Dictionary of messages to display at each state change.

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

• nucleoSerial.py