Code

All the code for this project was written in microPython, a version of Python that has been optimized to run on the limited resources of microcontrollers. The main structure is a cooperative multitasking system with tasks for interfacing with the user, calculating the required motion, and driving the motors. A task diagram showing the interaction of these tasks can be found below.

A complete repository of the code used can be found at the link below.

ME 405 Term Project Code

• Classes
  • Servo Class
  • Shares Class
  • Stepper Class
• Tasks
  • Interface Task
  • Data Task
  • Motor Task
  • Type Task