main.py File Reference

This file contains creates all shares, queues, hardware driver constants, controllers, and task objects for the ROMI program. More...

Go to the source code of this file.

Namespaces
namespace	main

Variables
float	main.ERR_SAT_LEFT = 50.0
float	main.EFF_SAT_LEFT = 85.0
float	main.ERR_SAT_RIGHT = 50.0
float	main.EFF_SAT_RIGHT = 85.0
int	main.ERR_SAT_LINE = 1
int	main.EFF_SAT_LINE = 40
int	main.ERR_SAT_YAW = .8
int	main.EFF_SAT_YAW = 100
	main.m_state_l = task_share.Share('b', thread_protect = False, name = "m_state_l")
	main.m_state_r = task_share.Share('b', thread_protect = False, name = "m_state_r")
	main.PWM_l = task_share.Share('f', thread_protect = False, name = "PWM_l")
	main.PWM_r = task_share.Share('f', thread_protect = False, name = "PWM_r")
	main.position_r = task_share.Share('f', thread_protect = False, name = "position_r")
	main.velocity_r = task_share.Share('f', thread_protect = False, name = "velocity_r")
	main.position_l = task_share.Share('f', thread_protect = False, name = "position_l")
	main.velocity_l = task_share.Share('f', thread_protect = False, name = "velocity_l")
	main.testing_flg = task_share.Share('b', thread_protect = False, name = "testing_flg")
	main.delay = task_share.Share('b', thread_protect = False, name = "delay")
	main.fwd_ref = task_share.Share('l', thread_protect = False, name = "fwd_ref")
	main.arc_ref = task_share.Share('l', thread_protect = False, name = "arc_ref")
	main.piv_ref = task_share.Share('f', thread_protect = False, name = "piv_ref")
	main.c_state = task_share.Share('b', thread_protect = False, name = "c_state")
	main.l_state = task_share.Share('b', thread_protect = False, name = "l_state")
	main.ready_Black = task_share.Share('b', thread_protect = False, name = "ready_Black")
	main.ready_White = task_share.Share('b', thread_protect = False, name = "ready_White")
	main.need_Calibrate = task_share.Share('b', thread_protect = False, name = "need calibrate")
	main.centroid = task_share.Share('f', thread_protect = False, name ="centroid")
	main.automatic_mode = task_share.Share('b', thread_protect = False, name = "automatic_mode" )
	main.imu_flg = task_share.Share('b', thread_protect= False, name = "imu_flg")
	main.yaw = task_share.Share('f', thread_protect = False, name = "yaw")
	main.yaw_velocity = task_share.Share('f', thread_protect = False, name = "yaw_velocity")
	main.total_dist = task_share.Share("f", thread_protect = False, name = "S")
	main.centroid_goal = task_share.Share("f", thread_protect = False, name = "Goal Centroid")
	main.yaw_goal = task_share.Share("f", thread_protect = False, name = "Yaw Goal")
	main.bump_on_off = task_share.Share("b", thread_protect = False, name = "Bump Flag")
	main.bump_flg = task_share.Share("b", thread_protect = False, name = "Bump Flag")
	main.velocity = task_share.Queue('f', 50, thread_protect = False, overwrite = False, name = "velocity")
	main.velocity2 = task_share.Queue('f', 50, thread_protect = False, overwrite = False, name = "velocity2")
	main.position = task_share.Queue('f', 50, thread_protect = False, overwrite = False, name = "position")
	main.times = task_share.Queue('l', 50, thread_protect = False, overwrite = False, name = "times")
	main.tim1 = Timer(1, prescaler=0, period=65535)
	main.tim3 = Timer(3, prescaler=0, period=65535)
	main.tim4 = Timer(4, freq=20000)
	main.my_motor_Left = Motor(Pin.cpu.B7, Pin.cpu.C13, Pin.cpu.C14, tim4, 1)
	main.encoder_Right = Encoder(tim3, Pin.cpu.C6, Pin.cpu.C7)
	main.my_motor_Right = Motor(Pin.cpu.B6, Pin.cpu.B10, Pin.cpu.A10, tim4, 2)
	main.encoder_Left = Encoder(tim1, Pin.cpu.A8, Pin.cpu.A9)
	main.bump_sensor_right = Bump_Sensor(Pin.cpu.B13, Pin.cpu.B3, Pin.cpu.B5)
	main.bump_sensor_left = Bump_Sensor(Pin.cpu.B11, Pin.cpu.B15, Pin.cpu.B14)
	main.ir1 = IR_Sensor(Pin.cpu.A6)
	main.ir2 = IR_Sensor(Pin.cpu.A7)
	main.ir3 = IR_Sensor(Pin.cpu.C4)
	main.ir4 = IR_Sensor(Pin.cpu.A0)
	main.ir5 = IR_Sensor(Pin.cpu.A1)
	main.ir6 = IR_Sensor(Pin.cpu.C4)
	main.ir7 = IR_Sensor(Pin.cpu.B0)
	main.ir8 = IR_Sensor(Pin.cpu.C0)
	main.ir9 = IR_Sensor(Pin.cpu.C1)
	main.ir10 = IR_Sensor(Pin.cpu.C2)
	main.ir11 = IR_Sensor(Pin.cpu.C3)
	main.ir12 = IR_Sensor(Pin.cpu.C5)
	main.ir13 = IR_Sensor(Pin.cpu.B1)
	main.line_sensor_obj = Line_Sensor(ir1, ir2, ir3, ir4, ir5, ir6, ir7, ir8, ir9, ir10, ir11, ir12, ir13)
	main.uart_obj = UART(5, 115200)
	main.bits
	main.parity
	main.None
	main.stop
	main.timeout
	main.i2c_obj = I2C(1,I2C.CONTROLLER,baudrate = 400000)
	main.imu_obj = IMU(i2c_obj)
	main.controller_obj_left = Controller(.2,1.95,1, ERR_SAT_LEFT, EFF_SAT_LEFT)
	main.controller_obj_right = Controller(.2,1.95,1, ERR_SAT_RIGHT, EFF_SAT_RIGHT)
	main.controller_obj_line = Controller(150, 10, 1, ERR_SAT_LINE, EFF_SAT_LINE)
	main.controller_obj_yaw = Controller(.8,.3,1, ERR_SAT_YAW, EFF_SAT_YAW)
	main.motor_Left_class = motor_encoder_left_class(my_motor_Left, encoder_Left, m_state_l, position_l, velocity_l, times, PWM_l, delay)
	main.motor_Right_class = motor_encoder_right_class(my_motor_Right, encoder_Right, m_state_r, position_r, velocity_r, times, PWM_r, delay)
	main.ui_obj = ui(testing_flg, m_state_l, m_state_r, position, velocity, times, PWM_l, PWM_r, delay, uart_obj, fwd_ref, arc_ref, piv_ref, c_state, velocity2, need_Calibrate, ready_Black, ready_White, automatic_mode, imu_flg)
	main.data_collector_obj = data_collector(testing_flg, position, velocity, times, position_l, velocity_l, position_r, velocity_r, velocity2)
	main.control_task_obj = control_task(fwd_ref, arc_ref, piv_ref, c_state, controller_obj_left, controller_obj_right, position_l, velocity_l, position_r, velocity_r, PWM_l, PWM_r, encoder_Right, encoder_Left, m_state_l, m_state_r, centroid, controller_obj_line, automatic_mode, line_sensor_obj, need_Calibrate, yaw, centroid_goal, yaw_goal, controller_obj_yaw)
	main.line_task_obj = line_task(line_sensor_obj, l_state, need_Calibrate, ready_Black, ready_White,centroid)
	main.imu_task_obj = imu_task(imu_obj, imu_flg, yaw, yaw_velocity)
	main.observer_obj = observer(position_l, position_r, yaw, yaw_velocity, PWM_l, PWM_r, velocity_l, velocity_r, total_dist)
	main.pathing_obj = pathing_plan(total_dist, automatic_mode, c_state, fwd_ref, piv_ref, yaw, centroid_goal, yaw_goal, bump_on_off, bump_flg)
	main.bump_obj = Bump_Task(c_state, bump_sensor_right, bump_sensor_left, bump_on_off, bump_flg)
	main.task1 = cotask.Task(data_collector_obj.run, name="data_collector", priority=2, period=18, profile=True, trace=False, shares=())
	main.task2 = cotask.Task(motor_Left_class.run, name="motor_encoder_left", priority=7, period=13, profile=True, trace=False, shares=())
	main.task3 = cotask.Task(motor_Right_class.run, name="motor_encoder_right", priority=7, period=13, profile=True, trace=False, shares=())
	main.task4 = cotask.Task(ui_obj.run, name="ui", priority=1, period=1, profile=True, trace=False, shares=())
	main.task5 = cotask.Task(control_task_obj.run, name="control_task", priority=6, period=15, profile = True, trace=False, shares=())
	main.task6 = cotask.Task(line_task_obj.run, name="line_task", priority = 5, period = 22, profile = True, trace = False, shares=())
	main.task7 = cotask.Task(imu_task_obj.run, name = "imu_task", priority = 6, period = 20, profile= True, trace= False, shares = ())
	main.task8 = cotask.Task(observer_obj.run, name = "observer", priority = 4, period = 20, profile = True, trace = False, shares = ())
	main.task9 = cotask.Task(pathing_obj.run, name= "pathing", priority = 3, period = 30, profile = True, trace = False, shares = ())
	main.task10 = cotask.Task(bump_obj.run, name = "bump task", priority = 2, period = 50, profile = True, trace = False, shares=())

Detailed Description

This file contains creates all shares, queues, hardware driver constants, controllers, and task objects for the ROMI program.

It also starts the scheduler from cotask.

In order main imports all files, sets defines, creates all shares, creates all queues, creates all hardware driver objects, creates all task class objects, creates all tasks, adds all tasks to the scheduler, and runs the scheduler.

Author

Alex Power, Lucas Heuchert, Erik Heuchert

Date

2025-Nov-10 Approximate date of creation of file

2025-Dec-12 Final alterations made

Definition in file main.py.