taskIMU.py File Reference

Implementation of inertial measurement unit calibration and data reading as a finite state machine. More...

Functions
def	taskIMU.taskBNO055Fcn (taskName, period, zFlag, posDATA, calDATA, DATA, speedDATA)
	A generator to implement the IMU task as an FSM. More...

Variables
	taskIMU.S0_INIT = micropython.const(0)
	creates object S0_INIT connected to constant 0 More...
	taskIMU.S1_Update = micropython.const(1)
	taskIMU.S2_CAL = micropython.const(2)

Detailed Description

Implementation of inertial measurement unit calibration and data reading as a finite state machine.

This file calls the BNO055.BNO055 class to generate an inertial measurement unit (IMU) object. This file is called iteratively from the main.py program management file to calibrate the IMU. Once calibrated, this file is used to update the output data from the IMU regularly for use in a closed-loop controller file.

Author

Logan Williamson

Brianna Roberts

Date

01/23/2022

Function Documentation

taskBNO055Fcn()

def taskIMU.taskBNO055Fcn	(		taskName,
			period,
			zFlag,
			posDATA,
			calDATA,
			DATA,
			speedDATA
	)

A generator to implement the IMU task as an FSM.

The task runs as a generator function and requires a task name and interval to be specified.

Parameters

taskName	The name of the task as a string.
period	The task interval or period specified as an integer number of microseconds.
zFlag	Shared flag variable which causes FSM to enter zeroing state.
posDATA	Shared data array for printing the angular positions of the IMU upon 'p' or 'P' press.
calDATA	Shared data array for printing the position of the encoder upon 'c' or 'C' press.
DATA	Shared data for data recording upon 'g' or 'G' press. This
speedDATA	Shared data array for printing the angular velocities of the IMU upon 'd' or 'D' press.

Variable Documentation

S0_INIT

taskIMU.S0_INIT = micropython.const(0)

creates object S0_INIT connected to constant 0

S0_INIT is used to initialize the FSM. Simply transitions from S0 to S1.