main.py File Reference

Main file for polar plotter project. More...

Functions
def	main.onButtonpress (IRQ_src)
def	main.g (x, theta, r)
def	main.dg_dtheta (theta, r)
def	main.NewtonRaphson (fcn, jacobian, guess, thresh)
def	main.iterate (fcn, x, theta, r, thresh)
def	main.parse (file)
def	main.extract (insts)
def	main.draw (instVal)

Variables
int	main.state = 0
	main.PC4 = Pin(Pin.cpu.C4, mode=Pin.OUT_PP, value=0)
	main.PB4 = Pin(Pin.cpu.B4, mode=Pin.OUT_PP, value=0)
	main.PB5 = Pin(Pin.cpu.B5, mode=Pin.OUT_PP, value=0)
	main.drv1 = TMC4210drv(2, SPI.SLAVE, 1_000_000, 1, 1, None, Pin(Pin.cpu.C3, mode=Pin.OUT_PP, value =1), 4, 1, Pin(Pin.cpu.B6, mode = Pin.OUT_PP), Pin(Pin.cpu.C2, mode=Pin.OUT_PP, value =1))
	main.drv2 = TMC4210drv(2, SPI.SLAVE, 1_000_000, 1, 1, None, Pin(Pin.cpu.B0, mode=Pin.OUT_PP, value =1), 4, 1, Pin(Pin.cpu.B7, mode = Pin.OUT_PP), Pin(Pin.cpu.C0, mode=Pin.OUT_PP, value =1))
	main.uC = SPI(2)
	main.MASTER
	main.baudrate
	main.phase
	main.polarity
	main.crc
	main.uart2 = UART(2)
	main.bits
	main.parity
	main.None
	main.stop
	main.theta_guess = np.array([5,6])
int	main.thresh = 1e-6
float	main.r = 0.24
float	main.inrad = r/(pi*2)
list	main.shapes = []
string	main.file = "susamongus.hpgl"
int	main.dpi = 240
	main.drawingDone = task_share.Share ('i', thread_protect = False, name = "drawingDone")
	main.button_int = ExtInt(Pin.cpu.C13, ExtInt.IRQ_FALLING, Pin.PULL_NONE, None)
	main.buttonFlag = task_share.Share ('i', thread_protect = False, name = "buttonFlag")
	main.drawTask
	main.xcoordData
	main.ycoordData

Detailed Description

Main file for polar plotter project.

Function Documentation

dg_dtheta()

def main.dg_dtheta	(		theta,
			r
	)

@breif Calculates the jacobian

draw()

def main.draw

(

instVal

)

@breif Uses the extracted xy coordinates to calculate motor thetas. Then sends
       motor thetas to respective stepper. Also interprets pen instructions to 
       actuate DC motor.

extract()

def main.extract

(

insts

)

@breif Splits extracted instructions by commas to generate xy coordinates
@param insts Instructions extracted from parsed file

g()

def main.g	(		x,
			theta,
			r
	)

@breif Calculates motor thetas from xy coordinate inputs

iterate()

def main.iterate	(		fcn,
			x,
			theta,
			r,
			thresh
	)

@breif Used to iteratively call NewtoRaphson method to find motor thetas

NewtonRaphson()

def main.NewtonRaphson	(		fcn,
			jacobian,
			guess,
			thresh
	)

@breif Calculates the new thetas approximated by NewtonRaphson method

onButtonpress()

def main.onButtonpress

(

IRQ_src

)

@breif Button flag used to start the drawing task

parse()

def main.parse

(

file

)

@breif Opens the hpgl file defined and extracts pen up/down instructions
       and xy coordinates of each point
@param file The hpgl file to be prsed

Variable Documentation

drawTask

def main.drawTask

(

)

Initial value:

=  cotask.Task(drawTask, name = 'Task_2', priority = 1, 
                         period = 50, profile = True, trace = False)

@breif Calls the draw function and sets flag to represent when drawing is finished

xcoordData

main.xcoordData

Initial value:

=  task_share.Queue ('f', 300, thread_protect = True, overwrite = False,
                           name = "xcoordData")

ycoordData

main.ycoordData

Initial value:

=  task_share.Queue ('f', 300, thread_protect = True, overwrite = False,
                           name = "ycoordData")