Attempt to balance the table with Touchscreen functionality. More...

Functions
def	mainWithTouchPad.fault_isr (fault)
	Fault pin. More...

def	mainWithTouchPad.fix_isr (fix)
	Fix ISR. More...

Variables
	mainWithTouchPad.touch = touchy(pyb.Pin.board.PA1, pyb.Pin.board.PA7, pyb.Pin.board.PA0, pyb.Pin.board.PA6, 180, 90, 90, 45)
	Touchy pin. More...

int	mainWithTouchPad.faultflag = 0
	Flag for faulting. More...

	mainWithTouchPad.extint = pyb.ExtInt(pyb.Pin.board.PB2, pyb.ExtInt.IRQ_RISING, pyb.Pin.PULL_UP, fault_isr)
	External Interrupt Object. More...

	mainWithTouchPad.fix = pyb.Pin.board.PC13
	Fix pin @Pin to be pressed that would fix the faults.

	mainWithTouchPad.fixtint = pyb.ExtInt(pyb.Pin.board.PC13, pyb.ExtInt.IRQ_RISING, pyb.Pin.PULL_UP, fix_isr)
	External Interrupt Object. More...

	mainWithTouchPad.var = MotorDriver(pyb.Pin.board.PA15, pyb.Pin.board.PB4, pyb.Pin.board.PB5, 3, 1, 2)
	X axis motor. More...

	mainWithTouchPad.var2 = MotorDriver(pyb.Pin.board.PA15, pyb.Pin.board.PB0, pyb.Pin.board.PB1, 3, 3, 4)
	Y axis motor. More...

	mainWithTouchPad.balancer = EncoderDriver(pyb.Pin.board.PB6, pyb.Pin.board.PB7, 1, 2, pyb.Timer(4, prescaler = 7, period = 0x7fffffff))
	X axis Motor encoder. More...

	mainWithTouchPad.balancer2 = EncoderDriver(pyb.Pin.board.PC6, pyb.Pin.board.PC7, 1, 2, pyb.Timer(8, prescaler = 7, period = 0x7fffffff))
	Y axis Motor encoder. More...

int	mainWithTouchPad.state = 0
	State flag. More...

int	mainWithTouchPad.start = 300
	Fault ignore. More...

	mainWithTouchPad.adc = pyb.ADC(pyb.Pin.board.A0)
	ADC object. More...

int	mainWithTouchPad.duty = 0
	Duty cycle value. More...

int	mainWithTouchPad.duty2 = 0
	Duty cycle value. More...

int	mainWithTouchPad.dut = 75
	New Duty cycle value. More...

int	mainWithTouchPad.balanceval = 0
	Distance to go. More...

int	mainWithTouchPad.balanceval2 = 0
	Distance to go. More...

	mainWithTouchPad.onoff = touch.allread()

Detailed Description

Attempt to balance the table with Touchscreen functionality.

This is essentially the same as mainWithnFault.py just with a bit of the touch screen added in. We started by adding the touch screen to shut off the motors entirely. This was easy, just examine the list sent by the touchy.py class and if the zboolean was 1, disable the motors. That worked like a charm. Then we tried to set the x motor to run and push up when the screen was touched to offset the distance and roll the ball back to center. This kind of worked but in combination with the past proportional control and some broken touch screen wiring it actually became very difficult. I should mention that I worked on this between mainWithnFault and mainThatBalancedtheTable when I needed a break from trying to balance the table.

Author: Jacob Everest; Hunter Morse

Date: Mar. 15, 2021

Copyright: This document shall only be viewed by those who will give us an A

Function Documentation

◆ fault_isr()

def mainWithTouchPad.fault_isr ( fault )

Fault pin.

Pin that the faults are dependent upon

Fault ISR

Sets the faultflag to one if a fault isr has been triggered. Stops all functionality until resolved.

Author: Jacob Everest; Hunter Morse

Date: Mar. 15, 2021

Copyright: No

◆ fix_isr()

def mainWithTouchPad.fix_isr ( fix )

Fix ISR.

Was meant to allow the user to press the blue button on the microcontroller to fix the fault interrupt. Didnt end up working

Author: Jacob Everest; Hunter Morse

Date: Mar. 15, 2021

Copyright: No

Variable Documentation

◆ adc

mainWithTouchPad.adc = pyb.ADC(pyb.Pin.board.A0)

ADC object.

allowed us to connect PC13 to A0 and use the blue button to end the fault state

◆ balancer

mainWithTouchPad.balancer = EncoderDriver(pyb.Pin.board.PB6, pyb.Pin.board.PB7, 1, 2, pyb.Timer(4, prescaler = 7, period = 0x7fffffff))

X axis Motor encoder.

Encoder object that outputs position of the X axis motor

◆ balancer2

mainWithTouchPad.balancer2 = EncoderDriver(pyb.Pin.board.PC6, pyb.Pin.board.PC7, 1, 2, pyb.Timer(8, prescaler = 7, period = 0x7fffffff))

Y axis Motor encoder.

Encoder object that outputs position of the Y axis motor

◆ balanceval

mainWithTouchPad.balanceval = 0

Distance to go.

Value computed later that represents how far we are from where we need to be for balance around the x axis

◆ balanceval2

mainWithTouchPad.balanceval2 = 0

Distance to go.

Value computed later that represents how far we are from where we need to be for balance around the y axis

◆ dut

int mainWithTouchPad.dut = 75

New Duty cycle value.

Value used for duty cycle when proportionality became unwieldy

◆ duty

int mainWithTouchPad.duty = 0

Duty cycle value.

Percent of time X motor is receiving energy from PWM

◆ duty2

int mainWithTouchPad.duty2 = 0

Duty cycle value.

Percent of time Y motor is receiving energy from PWM

◆ extint

mainWithTouchPad.extint = pyb.ExtInt(pyb.Pin.board.PB2, pyb.ExtInt.IRQ_RISING, pyb.Pin.PULL_UP, fault_isr)

External Interrupt Object.

Allows the Fault interrupt to be called

◆ faultflag

int mainWithTouchPad.faultflag = 0

Flag for faulting.

when high, there has been a fault, when low, it's been resolved

◆ fixtint

mainWithTouchPad.fixtint = pyb.ExtInt(pyb.Pin.board.PC13, pyb.ExtInt.IRQ_RISING, pyb.Pin.PULL_UP, fix_isr)

External Interrupt Object.

Allows the Fix interrupt to be called

◆ start

int mainWithTouchPad.start = 300

Fault ignore.

Set number of cycles for which we will ignore the fault flag in order to give the motors time to get running before a real fault

◆ state

int mainWithTouchPad.state = 0

State flag.

What else do you want? It's the state flag

◆ touch

mainWithTouchPad.touch = touchy(pyb.Pin.board.PA1, pyb.Pin.board.PA7, pyb.Pin.board.PA0, pyb.Pin.board.PA6, 180, 90, 90, 45)

Touchy pin.

Touchy object to read where the touch screen is being touch

◆ var

mainWithTouchPad.var = MotorDriver(pyb.Pin.board.PA15, pyb.Pin.board.PB4, pyb.Pin.board.PB5, 3, 1, 2)

X axis motor.

Creates an object that controls the motor that pushes the table Around its widthwise axis

◆ var2

mainWithTouchPad.var2 = MotorDriver(pyb.Pin.board.PA15, pyb.Pin.board.PB0, pyb.Pin.board.PB1, 3, 3, 4)

Y axis motor.

Creates an object that controls the motor that pushes the table Around its lengthwise axis

Functions

Variables