Lab0xFF

Files
file	axis.py
	Defines a container class to hold state for a single axis on the ME 405 platform.
file	controller.py
	A controller object that updates a single motor with full-state feedback.
file	Encoder.py
	Driver for US Digital E4T-1000 type encoder.
file	Motor.py
	Drivers for bushed DC motors and Texas Instruments DRV8847 motor driver.
file	TouchPanel.py
	Driver for the Adafruit 8.75" touch panel.
file	main.py
	Entry point to the ball balancing test bench activity.
file	serial_codes.py
	Definitions for all of the serial line codes to be passed back and forth between the frontend and the nucleo.
file	test_Encoder-timing.py
	Calculate the average time of encoder updating.
file	test_Main-timing.py
	Calculate the average time of main loop.
file	test_TouchPanel-timing.py
	Compare the timing of individually scanning each coordinate vs scanning all at once.
file	UI_front.py
	Contains the front-end User Interface for interacting with the ME 405 board.

Classes
class	axis.Profile
	A container class for state variables of a given axis. More...
class	axis.Axis
	_brief_description More...
class	controller.Controller
	A controller object operating with full-state feedback. More...
class	drivers.Encoder.Encoder
	A Quadrature Encoder class to be used with the ME 405 test bench. More...
class	drivers.Motor.Motor
	This class implements a motor driver for the ME405 board. More...
class	drivers.Motor.MotorDriver
	A driver class for interacting with two motors while also protecting against over-current. More...
class	drivers.TouchPanel.TouchPanel
	A class for collecting information from the touch panel over I2C. More...
class	main.State
	A class to hold the current state of the FSM. More...

Functions
def	main.now (epoch, units)
	Get the difference between the epoch and now. More...
def	main.check_for_command (command, buffer)
	Checks if a certain command was read on the serial input line. More...
def	test_Main-timing.test_timing ()
	Test how long an update cycle takes.
def	test_TouchPanel-timing.main ()
	Compare the timing of individually scanning each coordinate vs scanning all at once.
def	UI_front.main (args)
	Start and run the UI frontend. More...
def	UI_front.collect_data (serial, raw_data)
	Read a data point from the serial line, handling a fault if necessary. More...
def	UI_front.synthesize_data (raw_data)
def	UI_front.plot_response (resp, loc="plots")
	Create a plot for each state variable vs time for the whole response. More...

Variables
float	axis.PLATFORM_PIVOT_OFFSET = 0.110
	Distance from the platform pivot to the U-joint [m].
float	axis.LEVER_ARM_RADIUS = 0.060
	Length of the lever arm [m].
list	controller.K = [-1.9230949511259, -0.817604962125815, -0.617011551699976, -0.07079210481062]
	Controller gains as calculated in Homework0x05 .
float	controller.TORQUE_CONVERSION_FACTOR = 800.72
	Constant multiple to convert torque from [N-m] to [PWM%] Click Here for calculations.
int	drivers.Motor.MAX_CHANNEL_NUM = 4
	Set a limit for the board for maximum number of channels.
list	drivers.TouchPanel.INTERCEPT = [2008.5, 2120.3]
	Offsets to center of resistive touch panel. More...
list	drivers.TouchPanel.SLOPE = [20.364, -30.05]
	Slope (adc counts per mm) for each coordinate.
int	drivers.TouchPanel.LOW_THRESHOLD = 100
	Threshold for digital 'LOW' in adc counts.
string	serial_codes.CALIBRATE = "CALIBRATE\n".encode("ascii")
	Defines a constant for calibration mode.
string	serial_codes.RUN = "RUN\n".encode("ascii")
	Defines a constant to signal the board to start the controller.
string	serial_codes.HALT = "HALT\n".encode("ascii")
	Defines a constant to signal the board to terminate operation.
string	serial_codes.START_DATA_COLLECTION = "START_DATA_COLLECTION\n".encode("ascii")
	Defines a constant for data collection start.
string	serial_codes.STOP_DATA_COLLECTION = "STOP_DATA_COLLECTION\n".encode("ascii")
	Defines a constant for data collection stop.

Detailed Description

Function Documentation

check_for_command()

def main.check_for_command	(		command,
			buffer
	)

Checks if a certain command was read on the serial input line.

Parameters

command	The command to search for
buffer	The serial buffer, as a string

collect_data()

def UI_front.collect_data	(		serial,
			raw_data
	)

Read a data point from the serial line, handling a fault if necessary.

Parameters

serial	A serial object used to communicate with the nucleo.
raw_data	A container for all of the data collected so far.

main()

def UI_front.main

(

args

)

Start and run the UI frontend.

Parameters

args	Accepts a commandline argument vector of 2 arguments: the first is the program name, the second is the name of the serial port.

Waits for the user to enter any valid command. When data collection is complete, generates both an image (using matplotlib) and a .CSV file of data (timestamps and data readings). Image and Data files are timestamped. c Halt the system so the user can re-calibrate encoder positions with a level (default state). r Activate the controller to start running. s Stop the controller and process data. q Halt the system and exit.

     If there is a motor fault, the user will be prompted to either clear the fault and resume normal operation
     or to terminate the program.  If the program is terminated, data collection is terminated.

now()

def main.now	(		epoch,
			units
	)

Get the difference between the epoch and now.

Parameters

epoch	The starting time from which to measure the difference.
units	The units that the starting time is represented in.

Returns

The time passed since the epoch in the units provided.

plot_response()

def UI_front.plot_response	(		resp,
			loc = "plots"
	)

Create a plot for each state variable vs time for the whole response.

Parameters

resp	The response to plot. Expects a dictionary of lists of equal size as generated by clean_data().
loc	The folder in which to save the plots. If unspecified, they will be saved to the directory this was called in.

Variable Documentation

INTERCEPT

list drivers.TouchPanel.INTERCEPT = [2008.5, 2120.3]

Offsets to center of resistive touch panel.

These offsets do not necessarily coincide with the geometric center of every platform.