|
| float | ERR_SAT_LEFT = 50.0 |
| float | EFF_SAT_LEFT = 85.0 |
| float | ERR_SAT_RIGHT = 50.0 |
| float | EFF_SAT_RIGHT = 85.0 |
| int | ERR_SAT_LINE = 1 |
| int | EFF_SAT_LINE = 40 |
| int | ERR_SAT_YAW = .8 |
| int | EFF_SAT_YAW = 100 |
| | m_state_l = task_share.Share('b', thread_protect = False, name = "m_state_l") |
| | m_state_r = task_share.Share('b', thread_protect = False, name = "m_state_r") |
| | PWM_l = task_share.Share('f', thread_protect = False, name = "PWM_l") |
| | PWM_r = task_share.Share('f', thread_protect = False, name = "PWM_r") |
| | position_r = task_share.Share('f', thread_protect = False, name = "position_r") |
| | velocity_r = task_share.Share('f', thread_protect = False, name = "velocity_r") |
| | position_l = task_share.Share('f', thread_protect = False, name = "position_l") |
| | velocity_l = task_share.Share('f', thread_protect = False, name = "velocity_l") |
| | testing_flg = task_share.Share('b', thread_protect = False, name = "testing_flg") |
| | delay = task_share.Share('b', thread_protect = False, name = "delay") |
| | fwd_ref = task_share.Share('l', thread_protect = False, name = "fwd_ref") |
| | arc_ref = task_share.Share('l', thread_protect = False, name = "arc_ref") |
| | piv_ref = task_share.Share('f', thread_protect = False, name = "piv_ref") |
| | c_state = task_share.Share('b', thread_protect = False, name = "c_state") |
| | l_state = task_share.Share('b', thread_protect = False, name = "l_state") |
| | ready_Black = task_share.Share('b', thread_protect = False, name = "ready_Black") |
| | ready_White = task_share.Share('b', thread_protect = False, name = "ready_White") |
| | need_Calibrate = task_share.Share('b', thread_protect = False, name = "need calibrate") |
| | centroid = task_share.Share('f', thread_protect = False, name ="centroid") |
| | automatic_mode = task_share.Share('b', thread_protect = False, name = "automatic_mode" ) |
| | imu_flg = task_share.Share('b', thread_protect= False, name = "imu_flg") |
| | yaw = task_share.Share('f', thread_protect = False, name = "yaw") |
| | yaw_velocity = task_share.Share('f', thread_protect = False, name = "yaw_velocity") |
| | total_dist = task_share.Share("f", thread_protect = False, name = "S") |
| | centroid_goal = task_share.Share("f", thread_protect = False, name = "Goal Centroid") |
| | yaw_goal = task_share.Share("f", thread_protect = False, name = "Yaw Goal") |
| | bump_on_off = task_share.Share("b", thread_protect = False, name = "Bump Flag") |
| | bump_flg = task_share.Share("b", thread_protect = False, name = "Bump Flag") |
| | velocity = task_share.Queue('f', 50, thread_protect = False, overwrite = False, name = "velocity") |
| | velocity2 = task_share.Queue('f', 50, thread_protect = False, overwrite = False, name = "velocity2") |
| | position = task_share.Queue('f', 50, thread_protect = False, overwrite = False, name = "position") |
| | times = task_share.Queue('l', 50, thread_protect = False, overwrite = False, name = "times") |
| | tim1 = Timer(1, prescaler=0, period=65535) |
| | tim3 = Timer(3, prescaler=0, period=65535) |
| | tim4 = Timer(4, freq=20000) |
| | my_motor_Left = Motor(Pin.cpu.B7, Pin.cpu.C13, Pin.cpu.C14, tim4, 1) |
| | encoder_Right = Encoder(tim3, Pin.cpu.C6, Pin.cpu.C7) |
| | my_motor_Right = Motor(Pin.cpu.B6, Pin.cpu.B10, Pin.cpu.A10, tim4, 2) |
| | encoder_Left = Encoder(tim1, Pin.cpu.A8, Pin.cpu.A9) |
| | bump_sensor_right = Bump_Sensor(Pin.cpu.B13, Pin.cpu.B3, Pin.cpu.B5) |
| | bump_sensor_left = Bump_Sensor(Pin.cpu.B11, Pin.cpu.B15, Pin.cpu.B14) |
| | ir1 = IR_Sensor(Pin.cpu.A6) |
| | ir2 = IR_Sensor(Pin.cpu.A7) |
| | ir3 = IR_Sensor(Pin.cpu.C4) |
| | ir4 = IR_Sensor(Pin.cpu.A0) |
| | ir5 = IR_Sensor(Pin.cpu.A1) |
| | ir6 = IR_Sensor(Pin.cpu.C4) |
| | ir7 = IR_Sensor(Pin.cpu.B0) |
| | ir8 = IR_Sensor(Pin.cpu.C0) |
| | ir9 = IR_Sensor(Pin.cpu.C1) |
| | ir10 = IR_Sensor(Pin.cpu.C2) |
| | ir11 = IR_Sensor(Pin.cpu.C3) |
| | ir12 = IR_Sensor(Pin.cpu.C5) |
| | ir13 = IR_Sensor(Pin.cpu.B1) |
| | line_sensor_obj = Line_Sensor(ir1, ir2, ir3, ir4, ir5, ir6, ir7, ir8, ir9, ir10, ir11, ir12, ir13) |
| | uart_obj = UART(5, 115200) |
| | bits |
| | parity |
| | None |
| | stop |
| | timeout |
| | i2c_obj = I2C(1,I2C.CONTROLLER,baudrate = 400000) |
| | imu_obj = IMU(i2c_obj) |
| | controller_obj_left = Controller(.2,1.95,1, ERR_SAT_LEFT, EFF_SAT_LEFT) |
| | controller_obj_right = Controller(.2,1.95,1, ERR_SAT_RIGHT, EFF_SAT_RIGHT) |
| | controller_obj_line = Controller(150, 10, 1, ERR_SAT_LINE, EFF_SAT_LINE) |
| | controller_obj_yaw = Controller(.8,.3,1, ERR_SAT_YAW, EFF_SAT_YAW) |
| | motor_Left_class = motor_encoder_left_class(my_motor_Left, encoder_Left, m_state_l, position_l, velocity_l, times, PWM_l, delay) |
| | motor_Right_class = motor_encoder_right_class(my_motor_Right, encoder_Right, m_state_r, position_r, velocity_r, times, PWM_r, delay) |
| | 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) |
| | data_collector_obj = data_collector(testing_flg, position, velocity, times, position_l, velocity_l, position_r, velocity_r, velocity2) |
| | 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) |
| | line_task_obj = line_task(line_sensor_obj, l_state, need_Calibrate, ready_Black, ready_White,centroid) |
| | imu_task_obj = imu_task(imu_obj, imu_flg, yaw, yaw_velocity) |
| | observer_obj = observer(position_l, position_r, yaw, yaw_velocity, PWM_l, PWM_r, velocity_l, velocity_r, total_dist) |
| | pathing_obj = pathing_plan(total_dist, automatic_mode, c_state, fwd_ref, piv_ref, yaw, centroid_goal, yaw_goal, bump_on_off, bump_flg) |
| | bump_obj = Bump_Task(c_state, bump_sensor_right, bump_sensor_left, bump_on_off, bump_flg) |
| | task1 = cotask.Task(data_collector_obj.run, name="data_collector", priority=2, period=18, profile=True, trace=False, shares=()) |
| | task2 = cotask.Task(motor_Left_class.run, name="motor_encoder_left", priority=7, period=13, profile=True, trace=False, shares=()) |
| | task3 = cotask.Task(motor_Right_class.run, name="motor_encoder_right", priority=7, period=13, profile=True, trace=False, shares=()) |
| | task4 = cotask.Task(ui_obj.run, name="ui", priority=1, period=1, profile=True, trace=False, shares=()) |
| | task5 = cotask.Task(control_task_obj.run, name="control_task", priority=6, period=15, profile = True, trace=False, shares=()) |
| | task6 = cotask.Task(line_task_obj.run, name="line_task", priority = 5, period = 22, profile = True, trace = False, shares=()) |
| | task7 = cotask.Task(imu_task_obj.run, name = "imu_task", priority = 6, period = 20, profile= True, trace= False, shares = ()) |
| | task8 = cotask.Task(observer_obj.run, name = "observer", priority = 4, period = 20, profile = True, trace = False, shares = ()) |
| | task9 = cotask.Task(pathing_obj.run, name= "pathing", priority = 3, period = 30, profile = True, trace = False, shares = ()) |
| | task10 = cotask.Task(bump_obj.run, name = "bump task", priority = 2, period = 50, profile = True, trace = False, shares=()) |
1.15.0