main.py File Reference

Namespaces
	main

Variables
	main.user_input
	Initialization----------------------------------------------------------—. More...
	main.Kp = float(input('Please enter a positive value for Kp: '))
	main.pin_EN_A = pyb.Pin.cpu.A10
	main.pin_IN1_A = pyb.Pin.cpu.B4
	main.pin_IN2_A = pyb.Pin.cpu.B5
int	main.timer_number_A = 3
	Create the timer object used for PWM generation.
int	main.freq = 20000
	Designate the frequency.
	main.moeA = MotorDriver(pin_EN_A, pin_IN1_A, pin_IN2_A, timer_number_A, freq)
	Create a motor object passing in the pins and timer.
int	main.Timer1 = 4
	Encoder. More...
int	main.Timer2 = 8
int	main.prescaler = 0
int	main.period = 65535
	main.EncoderA1 = pyb.Pin.cpu.B6
	main.EncoderB1 = pyb.Pin.cpu.B7
	main.enco1 = Encoder(Timer1, EncoderA1, EncoderB1, prescaler, period)
int	main.delta_sum = 0
	main.PropControl = CLPropControl(Kp)
	PropControl. More...
int	main.Theta_ref = 1000
	main.Position_array = array.array('i', [])
	Create array for output. More...
	main.Time_array = array.array('i', [])
	main.delta_update = enco1.delta
	Main Program----------------------------------------------------------------------------------------—.
int	main.Theta_Measured = delta_sum
	main.actuation = PropControl.actuation_value

Detailed Description

This is the main code that will combine the motor driver, encoder, and the proportional gain classes into a functioning step response for our motors. It will be the users responsibility to read the other codes to see what the input arguments are for each class and their methods.

Since this is the main code that will be running the step response, it will call the motor driver, encoder, and the poroportional controller to calculate and output the position and its associated time of measurement. As mentioned above it is the users responsibility to designate the pins, and the constants they would like to use for their motor, encoder, and proportional controller. It is highly recommended to view the classes MotorDriver, Encoder, and CLPropControl to understand what is occuring in each of the methods in those classes. This code already runs the template that each contains in the main portion of their respective code files, however, those portions of those files will not be run when calling on the class. The classes will only recognize this file for the inputs.

Author

Matthew Tagupa

Copyright

License Info

Date

May 21, 2020