# name = "Tilt_Completion")
#
# pan_completion = task_share.Share ('f', thread_protect = False,
# name = "Pan_Completion")
# Create any Class task objects (change pins...)
pan_encoder = encoder_task_func.Encoder_Task(pan_position, 4,
pyb.Pin.board.PB6, pyb.Pin.board.PB7)
tilt_IMU = IMU_task_func.IMU_Task(tilt_angle) #what to put here 0 for tilt angle
#0.02
pan_motor = motor_task_func.Motor_Task(pan_position,
pan_coords, 3,
pyb.Pin.board.PA10,
pyb.Pin.board.PB4,
pyb.Pin.board.PB5, 0.01, .0115, 500)
#1.2
tilt_motor = motor_task_func.Motor_Task(tilt_angle,
tilt_coords, 5,
pyb.Pin.board.PC1,
pyb.Pin.board.PA0,
pyb.Pin.board.PA1, 2.2, 0.145, 200)
turret_hub = turret_hub_task_func.Turret_Hub_Task(pan_position, tilt_angle, pan_coords,
tilt_coords, FEED_BULLETS, WINDUP_GUN)
nerf_gun = nerf_task_func.Nerf_Task(WINDUP_GUN, FEED_BULLETS, pyb.Pin.board.PC7, pyb.Pin.board.PC6)
####################################################################
########################## TASK OBJECTS ############################
####################################################################
pan_encoder = encoder_task_func.Encoder_Task(pan_position, 4,
pyb.Pin.board.PB6,
pyb.Pin.board.PB7)
tilt_IMU = IMU_task_func.IMU_Task(
tilt_angle) #what to put here 0 for tilt angle
#0.02
pan_motor = motor_task_func.Motor_Task(pan_position, pan_coords, 3,
pyb.Pin.board.PA10,
pyb.Pin.board.PB4,
pyb.Pin.board.PB5, 0.0075, 0.0065,
0.00, 1000)
#1.2
tilt_motor = motor_task_func.Motor_Task(tilt_angle, tilt_coords, 5,
pyb.Pin.board.PC1,
pyb.Pin.board.PA0,
pyb.Pin.board.PA1, 1.25, 0.135, 0,
175)
turret_hub = turret_hub_task_func.Turret_Hub_Task(pan_position, tilt_angle,
pan_coords, tilt_coords,
FEED_BULLETS, WINDUP_GUN)
nerf_gun = nerf_task_func.Nerf_Task(WINDUP_GUN, FEED_BULLETS,
pyb.Pin.board.PC7, pyb.Pin.board.PC6)
# pan_completion = task_share.Share ('f', thread_protect = False,
# name = "Pan_Completion")
# Create any Class task objects (change pins...)
pan_encoder = encoder_task_func.Encoder_Task(pan_position, 4,
pyb.Pin.board.PB6,
pyb.Pin.board.PB7)
tilt_IMU = IMU_task_func.IMU_Task(
tilt_angle) #what to put here 0 for tilt angle
#0.02
pan_motor = motor_task_func.Motor_Task(pan_position, pan_coords, 3,
pyb.Pin.board.PA10,
pyb.Pin.board.PB4,
pyb.Pin.board.PB5, 0.005, .0125,
0.001, 500)
#1.2
tilt_motor = motor_task_func.Motor_Task(tilt_angle, tilt_coords, 5,
pyb.Pin.board.PC1,
pyb.Pin.board.PA0,
pyb.Pin.board.PA1, .3, 0.3, 4, 200)
turret_hub = turret_hub_task_func.Turret_Hub_Task(pan_position, tilt_angle,
pan_coords, tilt_coords,
FEED_BULLETS, WINDUP_GUN)
nerf_gun = nerf_task_func.Nerf_Task(WINDUP_GUN, FEED_BULLETS,
pyb.Pin.board.PC7, pyb.Pin.board.PC6)
# =========================================================================== #
# ======================== Run the Turret Code ============================== #
# =========================================================================== #
if __name__ == "__main__":
####################################################################
############################ VARIABLES #############################
####################################################################
####################################################################
########################## TASK OBJECTS ############################
####################################################################
pwm1 = motor_task_func.Motor_Task(20, 1, 5, 3, pyb.Pin.board.PA2, 2)
pwm2 = motor_task_func.Motor_Task(20, 1, 5, 4, pyb.Pin.board.PA3, 2)
pwm3 = motor_task_func.Motor_Task(1, 20, 8, 2, pyb.Pin.board.PC8, 2)
pwm4 = motor_task_func.Motor_Task(1, 20, 8, 1, pyb.Pin.board.PC6, 2)
# pwm2 = motor_task_func.Motor_Task(500, 5, 1, 3, pyb.Pin.board.PB15, 1)
####################################################################
############################## TASKS ###############################
####################################################################
#Turret Hub Timing => Timing: 100 ms, Priority 1 (Lowest)
task0 = cotask.Task(pwm1.mot_fun,
name='Task_0',
priority=1,
period=100,
profile=True,
pan_completion = task_share.Share('f',
thread_protect=False,
name="Pan_Completion")
# Create any Class task objects (change pins...)
pan_encoder = encoder_task_func.Encoder_Task(pan_position, 4,
pyb.Pin.board.PB6,
pyb.Pin.board.PB7)
tilt_IMU = IMU_task_func.IMU_Task(
tilt_angle) #what to put here 0 for tilt angle
#0.02
pan_motor = motor_task_func.Motor_Task(pan_completion, pan_position,
pan_coords, 3, pyb.Pin.board.PA10,
pyb.Pin.board.PB4,
pyb.Pin.board.PB5, 0.019, 10 / 1000)
#1.2
tilt_motor = motor_task_func.Motor_Task(tilt_completion, tilt_angle,
tilt_coords, 5, pyb.Pin.board.PC1,
pyb.Pin.board.PA0,
pyb.Pin.board.PA1, 10, .05 / 1000)
turret_hub = turret_hub_task_func.Turret_Hub_Task(pan_position, tilt_angle,
pan_coords, tilt_coords,
FEED_BULLETS, WINDUP_GUN,
pan_completion,
tilt_completion)
nerf_gun = nerf_task_func.Nerf_Task(WINDUP_GUN, FEED_BULLETS,
pyb.Pin.board.PC7, pyb.Pin.board.PC6)
# Create any Class task objects (change pins...)
# pan_encoder = encoder_task_func.Encoder_Task(pan_position, 4,
# pyb.Pin.board.PB6, pyb.Pin.board.PB7)
tilt_IMU = IMU_task_func.IMU_Task(
tilt_angle) #what to put here 0 for tilt angle
# pan_motor = motor_task_func.Motor_Task(pan_completion, pan_position,
# pan_coords, 3,
# pyb.Pin.board.PA10,
# pyb.Pin.board.PB4,
# pyb.Pin.board.PB5, 0, 0)
tilt_motor = motor_task_func.Motor_Task(tilt_completion, tilt_angle,
tilt_coords, 5, pyb.Pin.board.PC1,
pyb.Pin.board.PA0,
pyb.Pin.board.PA1, 5, 0)
# turret_hub = turret_hub_task_func.Turret_Hub_Task(pan_position, tilt_angle, pan_coords,
# tilt_coords, FEED_BULLETS, WINDUP_GUN,
# pan_completion, tilt_completion)
# nerf_gun = nerf_task_func.Nerf_Task(WINDUP_GUN, FEED_BULLETS, pyb.Pin.board.PC6, pyb.Pin.board.PC7)
# Create the tasks. If trace is enabled for any task, memory will be
# allocated for state transition tracing, and the application will run out
# of memory after a while and quit. Therefore, use tracing only for
# debugging and set trace to False when it's not needed
# #Turret Hub Timing => Timing: 100 ms, Priority 1 (Lowest)
# task0 = cotask.Task (turret_hub.turret_hub_fun, name = 'Task_0', priority = 1,
name="Tilt_Completion")
pan_completion = task_share.Share('f',
thread_protect=False,
name="Pan_Completion")
# Create any Class task objects (change pins...)
pan_encoder = encoder_task_func.Encoder_Task(pan_position, 4,
pyb.Pin.board.PB6,
pyb.Pin.board.PB7)
# tilt_IMU = IMU_task_func.IMU_Task(tilt_angle) #what to put here 0 for tilt angle
pan_motor = motor_task_func.Motor_Task(pan_completion, pan_position,
pan_coords, 3, pyb.Pin.board.PA10,
pyb.Pin.board.PB4,
pyb.Pin.board.PB5, 0.02, 0)
# tilt_motor = motor_task_func.Motor_Task(tilt_completion, tilt_angle,
# tilt_coords, 5,
# pyb.Pin.board.PC1,
# pyb.Pin.board.PA0,
# pyb.Pin.board.PA1, 5, 0)
# turret_hub = turret_hub_task_func.Turret_Hub_Task(pan_position, tilt_angle, pan_coords,
# tilt_coords, FEED_BULLETS, WINDUP_GUN,
# pan_completion, tilt_completion)
# nerf_gun = nerf_task_func.Nerf_Task(WINDUP_GUN, FEED_BULLETS, pyb.Pin.board.PC6, pyb.Pin.board.PC7)
# Create the tasks. If trace is enabled for any task, memory will be
thread_protect=False,
name="Pan_Completion")
# Create any Class task objects (change pins...)
pan_encoder = encoder_task_func.Encoder_Task(pan_position, 4,
pyb.Pin.board.PB6,
pyb.Pin.board.PB7)
tilt_IMU = IMU_task_func.IMU_Task(
tilt_angle) #what to put here 0 for tilt angle
#0.02
pan_motor = motor_task_func.Motor_Task(pan_completion, pan_position,
pan_coords, 3, pyb.Pin.board.PA10,
pyb.Pin.board.PB4,
pyb.Pin.board.PB5, 0.021, 0.00035,
25000)
#1.2
tilt_motor = motor_task_func.Motor_Task(tilt_completion, tilt_angle,
tilt_coords, 5, pyb.Pin.board.PC1,
pyb.Pin.board.PA0,
pyb.Pin.board.PA1, 1.35, 0.01,
4000)
turret_hub = turret_hub_task_func.Turret_Hub_Task(pan_position, tilt_angle,
pan_coords, tilt_coords,
FEED_BULLETS, WINDUP_GUN,
pan_completion,
tilt_completion)
pyb.Pin.board.P,pyb.Pin.board.P)
z_feedback = feedback_task_func.Feedback_Task(z_encoder, z_limit, z_zero,
4, pyb.Pin.board.PB6, pyb.Pin.board.PB7,
pyb.Pin.board.P,pyb.Pin.board.P)
y_feedback = feedback_task_func.Feedback_Task(y_encoder, y_limit, y_zero,
4, pyb.Pin.board.PB6, pyb.Pin.board.PB7,
pyb.Pin.board.P,pyb.Pin.board.P)
p_feedback = feedback_task_func.Feedback_Task(p_encoder, p_limit, p_zero,
4, pyb.Pin.board.PB6, pyb.Pin.board.PB7,
pyb.Pin.board.P,pyb.Pin.board.P)
# Create Motor Tasks
x_motor = motor_task_func.Motor_Task(x_params, x_enable,
pyb.Pin.board.PA11,
pyb.Pin.board.PB1,
pyb.Pin.board.PC8,
pyb.Pin.board.PC9,
pyb.Pin.board.PC2,
timer, channel)
z_motor = motor_task_func.Motor_Task(z_params, z_enable,
pyb.Pin.board.PB12,
pyb.Pin.board.PB15,
pyb.Pin.board.PC6,
pyb.Pin.board.PB9,
pyb.Pin.board.PC3,
timer, channel)
y_motor = motor_task_func.Motor_Task(y_params, y_enable,
pyb.Pin.board.PB11,
pyb.Pin.board.PB14,
pyb.Pin.board.PC5,
pyb.Pin.board.PA15,
pyb.Pin.board.PA9,
pyb.Pin.board.PB4,
pyb.Pin.board.PC13, 'X ')
# z_feedback = feedback_task_func.Feedback_Task(z_encoder, z_limit, z_zero,
# 2, pyb.Pin.board.PA0, pyb.Pin.board.PA1,
# pyb.Pin.board.PB5, pyb.Pin.board.PA11, 'Z ')
# y_feedback = feedback_task_func.Feedback_Task(y_encoder, y_limit, y_zero,
# 3, pyb.Pin.board.PA6, pyb.Pin.board.PA7,
# pyb.Pin.board.PB3, pyb.Pin.board.PB2, 'Y ')
# p_feedback = feedback_task_func.Feedback_Task(p_encoder, p_limit, p_zero,
# 4, pyb.Pin.board.PB6, pyb.Pin.board.PB7,
# pyb.Pin.board.PA4, pyb.Pin.board.PH0, 'P ')
# Create Motor Tasks
x_motor = motor_task_func.Motor_Task(x_params, x_steps, x_enable, x_status,
x_limit, pyb.Pin.board.PC8,
pyb.Pin.board.PB1, pyb.Pin.board.PH1,
pyb.Pin.board.PC2, 8, 3, 5, 3, 'X ')
# z_motor = motor_task_func.Motor_Task(z_params, z_steps, z_enable, z_status, z_limit,
# pyb.Pin.board.PC6, pyb.Pin.board.PC11, pyb.Pin.board.PA15,
# pyb.Pin.board.PC3, 8, 1, 5, 1, 'Z ')
# y_motor = motor_task_func.Motor_Task(y_params, y_steps, y_enable, y_status, y_limit,
# pyb.Pin.board.PC7, pyb.Pin.board.PC5, pyb.Pin.board.PD2,
# pyb.Pin.board.PC1, 8, 2, 5, 2, 'Y ')
# p_motor = motor_task_func.Motor_Task(p_params, p_steps, p_enable, p_status, p_limit,
# pyb.Pin.board.PC9, pyb.Pin.board.PA5, pyb.Pin.board.PB9,
# pyb.Pin.board.PC0, 8, 4, 5, 4, 'P ')
####################################################################
############################## TASKS ###############################
####################################################################