ChakraSindhu

The control codes for the Chakra Sindhu Project as part of the stage 5 work

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Code Structure

1. update.py

• has all necessary variables and functions inside a class which are needed by all control protocols
• imported by the main.py file and made use of in all the other files
• takes in input and buffers it in a readable fashion

2. machine.py

• has all necessary logical functions which are needed to control the main motor and the brakes
• makes use of the update class and functions from the update.py file
• sets all variables related to brake and main motor after determining operating conditions

3. yaw.py

• has all necessary logical functions which are needed to control the yaw motor
• makes use of the update class and functions from the update.py file
• sets all variables related to yaw-contactors after determining operating conditions

4. out.py

• needs machine and yaw objects in order to make use of variables associated with actuators
• flushes the pre-determined logical output onto real actuators
• called by the main.py file

5. main.py

• imports all the files above and creates their objects
• makes the final control decisions and calls the output functions accordingly
• only this file is run