ui_task.UITask Class Reference

Public Member Functions
	__init__ (self, mtr_enable, stream_data, abort, eff, driving_mode, setpoint, kp, ki, control_mode, uart, battery, imu, ir_array, k_line, lf_target, planning, game_origin_mode)
	run (self)

Public Attributes
	mtr_enable = mtr_enable
	stream_data = stream_data
	abort = abort
	planning = planning
	game_origin_mode = game_origin_mode
	eff = eff
	driving_mode = driving_mode
	setpoint = setpoint
	kp = kp
	ki = ki
	k_line = k_line
	lf_target = lf_target
	control_mode = control_mode
	ser = uart
	battery = battery
	imu = imu
	ir = ir_array
int	state = self.S0_INIT
	0: INIT STATE -----------------------------------------------—
str	cmd_buf = ''
	0: INIT STATE -----------------------------------------------—
int	prev_time = 0
	0: INIT STATE -----------------------------------------------—
	curr_time = ticks_ms()
	4: IMU Calibration State ------------------------------------—

Static Public Attributes
int	S0_INIT = 0
int	S1_WAIT_FOR_CMD = 1
int	S2_PROCESS_CMD = 2
int	S3_MONITOR_TEST = 3
int	S4_IMU_CALIBRATION = 4
int	S5_IR_CALIBRATION = 5

Detailed Description

Reads user input from Bluetooth UART, interprets commands, and sets control flags.

Attributes:
    mtr_enable (Share): Flag to enable/disable motors.
    stream_data (Share): Flag to enable/disable data streaming.
    abort (Share): Flag to abort current operation.
    planning (Share): Flag to enable/disable path planning.
    game_origin_mode (Share): Flag to set game origin mode.
    eff (Share): Motor effort percentage.
    driving_mode (Share): Driving mode (0: straight, 1: pivot, 2: arc).
    setpoint (Share): Velocity setpoint.
    kp (Share): Proportional gain for velocity control.
    ki (Share): Integral gain for velocity control.
    control_mode (Share): Control mode (0: effort, 1: velocity, 2: line-following).
    uart (UART): Bluetooth UART interface.
    battery (Battery): Battery monitoring object.
    imu (IMU): Inertial Measurement Unit object.
    ir_array (IRArray): Infrared sensor array object.
    k_line (Share): Line following proportional gain.
    lf_target (Share): Line following target velocity.

Constructor & Destructor Documentation

__init__()

ui_task.UITask.__init__	(		self,
			mtr_enable,
			stream_data,
			abort,
			eff,
			driving_mode,
			setpoint,
			kp,
			ki,
			control_mode,
			uart,
			battery,
			imu,
			ir_array,
			k_line,
			lf_target,
			planning,
			game_origin_mode )

Initialize the object's attributes

Member Function Documentation

run()

ui_task.UITask.run

(

self

)

FINITE STATE MACHINE

Generator that checks PuTTY for commands and updates flags

Member Data Documentation

abort

ui_task.UITask.abort = abort

battery

ui_task.UITask.battery = battery

cmd_buf

str ui_task.UITask.cmd_buf = ''

0: INIT STATE -----------------------------------------------—

1: WAITING STATE --------------------------------------------—

control_mode

ui_task.UITask.control_mode = control_mode

curr_time

ui_task.UITask.curr_time = ticks_ms()

4: IMU Calibration State ------------------------------------—

driving_mode

ui_task.UITask.driving_mode = driving_mode

eff

ui_task.UITask.eff = eff

game_origin_mode

ui_task.UITask.game_origin_mode = game_origin_mode

imu

ui_task.UITask.imu = imu

ir

ui_task.UITask.ir = ir_array

k_line

ui_task.UITask.k_line = k_line

ki

ui_task.UITask.ki = ki

kp

ui_task.UITask.kp = kp

lf_target

ui_task.UITask.lf_target = lf_target

mtr_enable

ui_task.UITask.mtr_enable = mtr_enable

planning

ui_task.UITask.planning = planning

prev_time

ui_task.UITask.prev_time = 0

0: INIT STATE -----------------------------------------------—

S0_INIT

int ui_task.UITask.S0_INIT = 0

static

S1_WAIT_FOR_CMD

int ui_task.UITask.S1_WAIT_FOR_CMD = 1

static

S2_PROCESS_CMD

int ui_task.UITask.S2_PROCESS_CMD = 2

static

S3_MONITOR_TEST

int ui_task.UITask.S3_MONITOR_TEST = 3

static

S4_IMU_CALIBRATION

int ui_task.UITask.S4_IMU_CALIBRATION = 4

static

S5_IR_CALIBRATION

int ui_task.UITask.S5_IR_CALIBRATION = 5

static

ser

ui_task.UITask.ser = uart

setpoint

ui_task.UITask.setpoint = setpoint

state

int ui_task.UITask.state = self.S0_INIT

0: INIT STATE -----------------------------------------------—

1: WAITING STATE --------------------------------------------—

stream_data

ui_task.UITask.stream_data = stream_data

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

• src/ui_task.py