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

#include <stdbool.h>
#include "TimerIRQ.h"

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Data Structures
struct	Angles
	A 2D Angle. More...

struct	Positions
	A 2D Position. More...

struct	Velocities
	A 2D Velocity. More...

Macros
#define	MOTOR_V_LIM_H 10.000
	Motor Voltage High Limit (V)

#define	MOTOR_V_LIM_L -10.000
	Motor Voltage Low Limit (V)

#define	R 0.0062
	Pulley Radius (m)

#define	K_a 0.41
	Current Constant (A/V)

#define	K_m 0.11
	Motor Constant (Nm/A)

#define	FORCE_TO_VOLTAGE(force) (force) * R / (K_a * K_m)
	Force to Voltage Conversion.

#define	VOLTAGE_TO_FORCE(voltage) (voltage) * (K_a * K_m) / R
	Voltage to Force Conversion.

Typedefs
typedef float	Angle
	Alias for an Angle.

typedef float	Position
	Alias for a Position.

typedef float	Velocity
	Alias for Velocity.

typedef float	Voltage
	Alias for Voltage.

Functions
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 ()

Variables
MyRio_IrqTimer	timer
	The Timer.

Detailed Description

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

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

◆ FORCE_TO_VOLTAGE

#define FORCE_TO_VOLTAGE ( force ) (force) * R / (K_a * K_m)

Force to Voltage Conversion.

Parameters

force An int/float/double expression, which represents the force to transmit (through the motor)

Postcondition: Becomes the conversion between force to the voltage to output

◆ VOLTAGE_TO_FORCE

#define VOLTAGE_TO_FORCE ( voltage ) (voltage) * (K_a * K_m) / R

Voltage to Force Conversion.

Parameters

voltage An int/float/double expression, which represents the voltage to transmit (through the motor)

Postcondition: Converts voltage into a force

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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◆ 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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◆ 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

◆ 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

Variable Documentation

◆ timer

MyRio_IrqTimer timer

extern

The Timer.

Data Structures

Macros

Typedefs

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ FORCE_TO_VOLTAGE

◆ VOLTAGE_TO_FORCE

Function Documentation

◆ GetAngle()

◆ GetReferenceAngleCommand()

◆ GetReferenceVelocityCommand()

◆ GetTrolleyPosition()

◆ GetTrolleyVelocity()

◆ GetUserPosition()

◆ GetUserVelocity()

◆ IOSetup()

◆ IOShutdown()

◆ KeyboardControlFork()

◆ KeyboardControlJoin()

◆ PressedDelete()

◆ Reset()

◆ SetXVoltage()

◆ SetYVoltage()

Variable Documentation

◆ timer