ControlTask.cpp File Reference

#include <Arduino.h>
#include <PrintStream.h>
#include "shares.h"
#include "ControlTask.h"
#include "Control.h"
#include "EncoderDriver.h"
#include "MotorDriver.h"
#include "EMDriver.h"
#include "math.h"

Macros
#define	inputA1   PB8
#define	inputA2   PB9
#define	enableA   PB6
#define	inputB1   PA8
#define	inputB2   PA9
#define	enableB   PB7
#define	E1CHA   PA0
#define	E1CHB   PA1
#define	E2CHA   PB4
#define	E2CHB   PB5
#define	MagPin   PA10
#define	limx   PB0
#define	limy   PA4

Functions
void	task_control (void *p_params)
	Task which sends data to ControlTask.h. More...

Detailed Description

This file contains a task for controlling the Zen Gardener's magnet position

Source code available here: https://github.com/chstanto/Zen_Garden/blob/main/src/ControlTask.cpp

Author

Aaron Tran

Cole Stanton

Date

2021-Nov-29 Original file

This file contains a task for controlling the Zen Gardener's magnet position

Source code available here: https://github.com/chstanto/Zen_Garden/blob/main/src/ControlTask.h

Author

Aaron Tran

Cole Stanton

Date

2021-Nov-29 Original file

Function Documentation

task_control()

void task_control

(

void *

p_params

)

Task which sends data to ControlTask.h.

This task sends designs Zen Garden designs to the Control Task. Upon further development, this task would also read from a CSV to obtain that data, retrieve performance data, and print desired data to a CSV.

Parameters

p_params

A pointer to function parameters which we don't use.

Current x position, [in]

Current y position, [in]

Current x velocity, [in/s]

Current y velocity, [in/s]

Previous x position reading, [in]

Previous y position reading, [in]

Reference x position, [in]

Reference y position, [in]

Reference x velocity, [in/s]

Reference y velocity, [in/s]

Desired operating speed, [in/s]

x error, [in]

y error, [in]

Angle of reference velocity vector [rad]

Control system's acceptable error [in]

Clock value [ms]

vTaskDelay value [ms]

triggers flag if x limit switch has been clicked

triggers flag if y limit switch has been clicked

triggers flag if first x position has been reached

triggers flag if first y position has been reached

triggers flag if x position error is sufficiently low

triggers flag if y position error is sufficiently low

triggers flag if last reference value has been received