controlSystem

control_systems/Control System/controlSystem.py

@@ -0,0 +1,118 @@
+import threading
+import time
+
+class IMU:
+    def __init__(self, num):
+        self.val = num
+
+class ping:
+    def __init__(self, num):
+        self.val = num
+
+class mode:
+    def __init__(self, num):
+        self.val = num
+
+class jointAngles:
+    def __init__(self, num):
+        self.val = num
+
+class position:
+    def __init__(self, num):
+        self.val = num
+
+class velocity:
+    def __init__(self, num):
+        self.val = num
+
+class registry:
+    def __init__(self):
+        self.registry = {IMU : None, ping : None, mode : None, jointAngles : None, position : None, velocity : None}
+
+    def addRegister(self, key, value, timestamp):
+        temp = self.registry.get[key]
+        self.registry[key] = temp.append([value, timestamp])      #[value, timestamp]
+
+    def get(self, register):
+        return self.registry.get(register)
+
+class flag:
+    def __init__(self):
+        self.flag = {'motorActuation' :None, 'mode change' : None, 'movement' : None, 'pathCoords' : None}
+
+    def addFlag(self, key, value, priority, timestamp):   #priority is going to be from range 1-5
+        temp = self.flag.get[key]
+        self.flag[key] = temp.append([value, priority, timestamp])      #[value, priority, timestamp]
+
+    def get(self, fl):
+        return self.flag.get(fl)
+
+
+def gaitGen():
+    if flag[]
+    
+    
+def balance():
+
+
+def telemetry():
+
+
+def cv(): 
+    if flag['pathCoords'] != None:
+
+
+
+
+
+
+
+def gaitGen():
+    if flag['balanced'] != None:
+        
+     if flag['movement'] != None:
+
+
+
+
+
+def automatic():
+    cv()
+    gaitGen()
+
+
+def manual():
+    telemetry()
+    addFlag('motorActuation', False, time.time())
+    executor()
+
+def sendAuto():
+    telemetry()
+    addFlag('movement', False, time.time())
+    executor()   
+
+
+def executor():
+
+
+def loop():
+    executor()
+
+
+class mode:
+    def __init__(self, num):
+        self.val = num
+
+class commands:
+    def __init__(self, num):
+        self.mode = mode(3)
+        
+    
+
+    def changeMode(mode m):
+        print()
+
+    def shutDown():
+
+
+