Sensor/Actuator (Input/Output) Interfacing Library. More...

#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <math.h>
#include <pthread.h>
#include "MyRio.h"
#include "DIO.h"
#include "T1.h"
#include "conC_Encoder_initialize.h"
#include "discrete-lib.h"
#include "error.h"
#include "thread-lib.h"
#include "io.h"

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Macros
#define	X_CONNECTOR_ID 0
	X Motor Encoder Connector ID (on Connector C)

#define	Y_CONNECTOR_ID 1
	Y Motor Encoder Connector ID (on Connector C)

#define	POTENTIOMETER_SLOPE -2.11 * PI / 180.0

#define	POT_V_LIM_LO -20.0
	Lower Potentiometer Voltage Saturation Limit (V)

#define	POT_V_LIM_HI 20.0
	Upper Potentiometer Voltage Saturation Limit (V)

#define	ENC_CNT_REV 2000.0

#define	M_PER_REV 0.01267 * PI

#define	ENC_2_POS(value) (value) / ENC_CNT_REV * M_PER_REV

#define	ENC_2_VEL(value) (value) / (BTI_S * ENC_CNT_REV) * M_PER_REV

#define	X_LIM_LO 0.0
	Lower X Limit.

#define	Y_LIM_LO 0.0
	Lower Y Limit.

#define	X_LIM_HI 0.35
	Higher X Limit.

#define	Y_LIM_HI 0.35
	Higher Y Limit.

#define	VEL_LIM_ABS 1.0
	Absolute Velocity Limit.

#define	CHANNELS 16
	Number of Channels.

#define	LCD_KEYPAD_LEN 4
	Keypad Length.

#define	UNIT_VEL 0.15

#define	DEL_ROW 7

#define	DEL_COL 3

#define	WAIT_CONST 417000

Typedefs
typedef bool	Keymap[9]

Functions
static void *	KeymapThread (void *resource)

static int	HandleEncoderError (Positions curr_pos, Velocities curr_vel)

static int	HandlePotentiometerError (Angles *curr_ang)

static void	wait ()

int	IOSetup ()

int	IOShutdown ()

void	Reset ()

int	GetReferenceVelocityCommand (Velocities *result)

int	GetReferenceAngleCommand (Angles *result)

int	GetAngle (Angles *result)

int	GetTrolleyPosition (Positions *result)

int	GetTrolleyVelocity (Velocities *result)

int	GetUserPosition (Angles angle, Positions pos, Positions *result)

int	GetUserVelocity (Angles angle, Velocities vel, Velocities *result)

int	SetXVoltage (Voltage voltage)

int	SetYVoltage (Voltage voltage)

bool	PressedDelete ()

int	KeyboardControlFork ()

int	KeyboardControlJoin ()

char	getkey ()

Variables
static bool	reset
	Reset Variable for measuring velocity.

static float	potentiometer_v_x_intercept

static float	potentiometer_v_y_intercept

static MyRio_Aio	x_potentiometer
	X Potentiometer.

static MyRio_Aio	y_potentiometer
	Y Potentiometer.

static MyRio_Encoder	x_encoder
	X Motor Encoder.

static MyRio_Encoder	y_encoder
	Y Motor Encoder.

static int32_t	first_enc_state [2]

static int32_t	prev_enc_state [2]

static bool	holding_vel_set
	Indicator if the holding for velocity is set.

static bool	holding_pos_set
	Indicator if the holding for position is set.

static Velocities	holding_vel
	Encoder Holding for velocity.

static Positions	holding_pos
	Encoder Holding for position.

static const Encoder_StatusMask	enc_st_mask
	Encoder Error Mask.

MyRio_Aio	x_motor
	X Motor Voltage Channel.

MyRio_Aio	y_motor
	Y Motor Voltage Channel.

MyRio_IrqTimer	timer
	Universal Timer.

static MyRio_Dio	channel [CHANNELS]
	Keyboard channels.

static pthread_mutex_t	keyboard
	Keyboard lock.

static Keymap	keymap
	Our keymap.

static pthread_t	keymap_thread
	Thread for Keymap Thread.

static ThreadResource	keymap_resource
	Thread Resource for Keymap Thread.

static int	error
	Local Error Flag.

Detailed Description

Sensor/Actuator (Input/Output) Interfacing Library.

Author: Anti-Sway Team: Nguyen, Tri; Espinola, Malachi; Tevy, Vattanary; Hokenstad, Ethan; Neff, Callen)

Version: 0.1

Date: 2024-06-03

Copyright: Copyright (c) 2024

Macro Definition Documentation

◆ ENC_2_POS

#define ENC_2_POS ( value ) (value) / ENC_CNT_REV * M_PER_REV

Converts a BDI quantity to meters

Parameters

value THe BDI to convert

◆ ENC_2_VEL

#define ENC_2_VEL ( value ) (value) / (BTI_S * ENC_CNT_REV) * M_PER_REV

Converts a BDI/BTI quantity to meters per second

Parameters

value The value to convert

◆ ENC_CNT_REV

#define ENC_CNT_REV 2000.0

Number of counts in one revolution TODO(nguy8tri): Find this quantity

◆ M_PER_REV

#define M_PER_REV 0.01267 * PI

Meters per revolution Diameter of upper pulley (12 mm) * PI

◆ POTENTIOMETER_SLOPE

#define POTENTIOMETER_SLOPE -2.11 * PI / 180.0

Best-Fit Potentiometer Slope (rad/V) TODO(nguy8tri): Find this quantity

◆ UNIT_VEL

#define UNIT_VEL 0.15

The unit velocity stop corresponding to a keypad touch (m/s)

Typedef Documentation

◆ Keymap

typedef bool Keymap[9]

Holds booleans indicating which buttons (1 through 9) are being pressed

Function Documentation

◆ GetAngle()

int GetAngle ( Angles * result )

Obtains the angle of the harness

Parameters

result A return parameter, which will become the angle along both directions

Returns: 0 upon success, other integers if otherwise; result, which will define the angle of the harness along both lateral directions

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◆ getkey()

char getkey ( )

Keypad characters

Locking style allows for getkey() to take precedence over all other keyboard commands

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◆ GetReferenceAngleCommand()

int GetReferenceAngleCommand ( Angles * result )

Obtains the user command (for tracking)

Parameters

result A return parameter, which will become the desired angle requested by the user

Returns: 0 upon success, negative otherwise; An Angles structure, which reflects the angle requested from the user

◆ GetReferenceVelocityCommand()

int GetReferenceVelocityCommand ( Velocities * result )

Obtains the user command (for anti-sway)

Parameters

result A return parameter, which will become the change in position requested by the user

Returns: 0 upon success, negative otherwise; A Velocities structure, which reflects the change in position requested from the user

Setup discrete velocity commands, -1, 0, and 1

◆ GetTrolleyPosition()

int GetTrolleyPosition ( Positions * result )

Obtains the Trolley Position

Parameters

result A return parameter, which will become the position of the trolley

Returns: 0 upon success, other integers if otherwise; A Positions structure, which defines the Position of the Motor in the lateral plane

Precondition: This is called precisely once every BTI

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◆ GetTrolleyVelocity()

int GetTrolleyVelocity ( Velocities * result )

Obtains the Trolley Velocity

Parameters

result A return parameter, which will become the velocity of the trolley

Returns: 0 upon success, other integers if otherwise; A Velocities structure, which defines the velocity of the trolley in the lateral plane

Precondition: This is called precisely once every BTI

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◆ GetUserPosition()

int GetUserPosition	(	Angles *	angle,
		Positions *	pos,
		Positions *	result )

Obtains the User Position

Parameters

angle	The rope angle
pos	The trolley position
result	A return parameter, which will become the position of the user

Returns: 0 upon success, other integers if otherwise; A Positions structure, which defines the Position of the User in the lateral plane

◆ GetUserVelocity()

int GetUserVelocity	(	Angles *	angle,
		Velocities *	vel,
		Velocities *	result )

Obtains the User Velocity

Parameters

angle	The rope angle
vel	The trolley velocity
result	A return parameter, which will become the velocity of the user

Returns: 0 upon success, other integers if otherwise; A Velocities structure, which defines the Velocity of the User in the lateral plane

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◆ HandleEncoderError()

static int HandleEncoderError	(	Positions *	curr_pos,
		Velocities *	curr_vel )

inlinestatic

Handles Error Processing from Position/Velocity Measurements

Parameters

curr_pos	The current position
curr_vel	The current velocity

Returns: 0 upon no error, negative otherwise (using the universal error codes)

Postcondition: Iff negative is returned, both motors are switched off

Check Positional Limits first

Now, check velocity limits

Now, check if there is an encoder error

u_error = EENCR; conC_Encoder_initialize(myrio_session, &x_encoder, X_CONNECTOR_ID);

u_error = EENCR; conC_Encoder_initialize(myrio_session, &y_encoder, Y_CONNECTOR_ID);

Output Error

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◆ HandlePotentiometerError()

static int HandlePotentiometerError ( Angles * curr_ang )

inlinestatic

Handles Error Processing for Potentiometer Measurements

Parameters

curr_ang The current angle reading

Returns: 0 upon no error, ESTRN otherwise

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◆ IOSetup()

int IOSetup ( )

Sets up the System-Sensor/Actuator Interface

Returns: 0 upon success, negative otherwise

Setup Timer

Setup Encoders Channels

Setup Potentiometer Voltage Channels (are swapped)

Setup Motor Channels

Setup Keyboard Channels & Resources

Setup Reset flag

Calibration Message

Set Reference Positions

Setup the holding

Calibrate voltage intercepts for potentiometer

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◆ IOShutdown()

int IOShutdown ( )

Shutsdown the System-Sensor/Actuator Interface

Returns: 0 upon success, negative otherwise

Dissasociate with Encoders

Dissasociate with Potentiometers

Disassociate with Motor

Destroy Keyboard Lock

◆ KeyboardControlFork()

int KeyboardControlFork ( )

Enables Keyboard Control for Anti-Sway (concurrently)

Postcondition: If its already running, does nothing

Returns: 0 upon success, negative if error

Begin Keyboard Thread

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◆ KeyboardControlJoin()

int KeyboardControlJoin ( )

Stops Keyboard Control for Anti-Sway (concurrent process)

Returns: 0 upon success, negative if error

Destroy Keymap Thread

◆ KeymapThread()

static void * KeymapThread ( void * resource )

inlinestatic

Obtains the numerical buttons pressed (1 through 9)

Returns: NULL

Postcondition: Updates keymap with all the number buttons, excluding 0, that are pressed

◆ PressedDelete()

bool PressedDelete ( )

Detects if the DEL key is pressed on the keyboard

Returns: true iff DEL is pressed on the keyboard

◆ Reset()

void Reset ( )

Resets GetTrolleyPosition and GetTrolleyVelocity by setting the velocity to zero

Postcondition: The next time GetTrolleyVelocity is called, both velocities are zero

◆ SetXVoltage()

int SetXVoltage ( Voltage voltage )

Sets the voltage of the X motor

Returns: 0 upon success, other integers if otherwise

◆ SetYVoltage()

int SetYVoltage ( Voltage voltage )

Sets the voltage of the Y motor

Returns: 0 upon success, other integers if otherwise

◆ wait()

static void wait ( )

inlinestatic

Waits for approximate 5 ms

Postcondition: About 5 ms have passed

Wait Constant

Variable Documentation

◆ enc_st_mask

const Encoder_StatusMask enc_st_mask

static

Initial value:

=

(Encoder_StError)

Encoder Error Mask.

◆ first_enc_state

int32_t first_enc_state[2]

static

First Encoder state for both the X and Y Encoders

◆ potentiometer_v_x_intercept

float potentiometer_v_x_intercept

static

Calibrated Voltage Intercept (x-intercept) for X Potentiometer

◆ potentiometer_v_y_intercept

float potentiometer_v_y_intercept

static

Calibrated Voltage Intercept (x-intercept) for Y Potentiometer

◆ prev_enc_state

int32_t prev_enc_state[2]

static

Previous Encoder state (from the last time either GetTrolleyPosition or GetTrolleyVelocity is caled), for both the X and Y Encoders

◆ timer

MyRio_IrqTimer timer

Universal Timer.

The Timer.

Macros

Typedefs

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ ENC_2_POS

◆ ENC_2_VEL

◆ ENC_CNT_REV

◆ M_PER_REV

◆ POTENTIOMETER_SLOPE

◆ UNIT_VEL

Typedef Documentation

◆ Keymap

Function Documentation

◆ GetAngle()

◆ getkey()

◆ GetReferenceAngleCommand()

◆ GetReferenceVelocityCommand()

◆ GetTrolleyPosition()

◆ GetTrolleyVelocity()

◆ GetUserPosition()

◆ GetUserVelocity()

◆ HandleEncoderError()

◆ HandlePotentiometerError()

◆ IOSetup()

◆ IOShutdown()

◆ KeyboardControlFork()

◆ KeyboardControlJoin()

◆ KeymapThread()

◆ PressedDelete()

◆ Reset()

◆ SetXVoltage()

◆ SetYVoltage()

◆ wait()

Variable Documentation

◆ enc_st_mask

◆ first_enc_state

◆ potentiometer_v_x_intercept

◆ potentiometer_v_y_intercept

◆ prev_enc_state

◆ timer