PB_FSM.Platform_Ball_Task Class Reference

Public Member Functions
def	Fault_Detection (self, pin)
	This method manages fault and prevents danger to user. More...
def	__init__ (self, interval)
	Defines variables and objects needed for FSM. More...
def	run (self)
	Runs one iteration of the platform ball task.
def	transitionTo (self, newState)
	Sets new state. More...

Public Attributes
	state
	The state to run on the next iteration of the task.
	interval
	The amount of time in microseconds between runs of the task.
	start_time
	The timestamp for the first iteration.
	next_time
	The "timestamp" for when the task should run next.
	User_Button
	Defining nucleo user input button as external interrupt self.Fault_Interrupt = pyb.ExtInt(pyb.Pin.board.PB2, pyb.ExtInt.IRQ_FALLING, pyb.Pin.PULL_UP, self.Fault_Detection) More...
	mot1
	Define motor 2, controls rotation about X axis.
	mot2
	Define motor 1, controls rotation about Y axis.
	Touch_Panel
	Define touch panel driver.
	Platform
	Define Initialized Platform Controller.
	Platform_Ball
	Define Initialized Platform and Ball Controller.
	IMU
	Define BNO055 sensor object.
	pos_X
	Variable storing two most recent X contact positions.
	pos_Y
	Variable storing two most recent Y contact positions.
	theta_X
	Variable storing two most recent angles about X.
	theta_Y
	Variable storing two most recent angles about Y.
	runs
	Variable storing number of loops through Platform/Ball control.
	curr_time
	Updates current time.
	Touch_Data
	Variable storing current touch panel data for each loop.
	IMU_Data
	Variable storing current IMU sensor data for each loop.

Static Public Attributes
int	S0_INIT = 0
	Constant defining state 0 - Initialization.
int	S1_PLATFORM_ZERO = 1
	Constant defining state 1 - Zero the Platform.
int	S2_BALANCE = 2
	Constant defining state 2 - Balance the Ball.
int	S3_FAULT = 3
	Constant defining state 3 - Fault Correction.

Constructor & Destructor Documentation

__init__()

def PB_FSM.Platform_Ball_Task.__init__	(		self,
			interval
	)

Defines variables and objects needed for FSM.

Parameters

interval

Input for time between runs in microseconds

Member Function Documentation

Fault_Detection()

def PB_FSM.Platform_Ball_Task.Fault_Detection	(		self,
			pin
	)

This method manages fault and prevents danger to user.

When this method is called by the FSM or external interrupt both motors are disabled and the FSM moves into state 3 which waits for a user input before resuming operation.

transitionTo()

def PB_FSM.Platform_Ball_Task.transitionTo	(		self,
			newState
	)

Sets new state.

Parameters

newState

Variable representing the desired new state

Member Data Documentation

User_Button

PB_FSM.Platform_Ball_Task.User_Button

Defining nucleo user input button as external interrupt self.Fault_Interrupt = pyb.ExtInt(pyb.Pin.board.PB2, pyb.ExtInt.IRQ_FALLING, pyb.Pin.PULL_UP, self.Fault_Detection)

Setting up Nucleo user button for fault reset

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

• PB_FSM.py