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Turntable

Paul Rodriguez Timothy Smith William White. Turntable. sensorUpdate Task. The sensorUpdate task performs the following operations in sequence: Obtains a binary semaphore.

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Turntable

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  1. Paul Rodriguez Timothy Smith William White Turntable

  2. sensorUpdateTask The sensorUpdatetask performs the following operations in sequence: • Obtains a binary semaphore. • Retrieves the values contained in the variables “Motor” and “Motor2” and writes them to the Fishertecknic control box. • Retrieves the sensor values from the Fishertecknic control box and writes them to the variables “Sensor” and “Sensor2”. • Releases the binary semaphore.

  3. mainPusherTask The mainPushertask performs the following operations in sequence: • Identifies the input of an object via a light sensor located directly in front of the device. • Once an object has obstructed the sensor, the mainPushertask checks the status of the turntable component to determine whether the device is ready to receive input. • When the Turntable component is at rest (ready for input), the main pusher component pushes the object onto the turntable, effectively releasing the object and returns to a rested state.

  4. turntable Task The Turntable task performs the following operations in sequence: • Identifies the input of an object via a flag that is activated from the main pusher component. • Once notified of the input the turntable spins exactly 90 degrees clockwise and clears the flag that signaled this operation, allowing the mainPushertask to receive another input. • When the operation terminates, the object innately rests on the Mill sensor which activates a “Mill sequence”.

  5. Mill Sequence • The Mill sequence consists of two stages: In the first stage, the Turntable component remains at rest for approximately one second. In the second stage, the Mill becomes active for approximately three seconds while the Turntable component still remains at rest. • At the conclusion of the Mill sequence, the turntable spins exactly 90 degrees clockwise and activates a flag for the turntablePushertask. This operation effectively “releases” the object.

  6. turntablePusherTask The turntablePushertask performs the following operations in sequence: • Identifies the input of an object via a flag that is activated from the Turntable task. • Once notified, the turntable pusher immediately pushes the object onto the belt. • Once the object is fully pushed, the turntablePushertask activates a flag notifying the Belt task and effectively releasing the object. • The turntable pusher returns to a rested state.

  7. belt Task The Belt task performs the following operations in sequence: • Identifies the input of an object via a flag that is activated from the turntablePushertask. • A VxWorksWatchdog object is immediately activated and the Belt component begins to transport the object to the light sensor. • 1) After approximately 3.5 seconds if the light sensor is obstructed by the object, then the VxWorks watchdog object is cancelled. The operation denoted by the next bullet (2) is then skipped. • 2) After approximately 3.5 seconds if the light sensor is not obstructed by the object, then the VxWorks watchdog object executes code on the level of the ISR that deactivates the flag and deactivates the Belt component, effectively returning the Belt to a rested state. • The Belt will remain at rest and check the status of the exit pusher component to determine whether the device is ready to receive input. • When the exit pusher component is at rest (ready for input), the Belt component pushes the object onto the exit pusher, activating a flag for the exitPushertask and effectively releasing the object. • The Belt returns to a rested state.

  8. exitPusherTask The exitPushertask performs the following operations in sequence: • Identifies the input of an object via a flag that is activated from the Belt task. • Once notified, exit pusher immediately pushes the object onto the final belt. • Once the object is fully pushed, the turntable pusher deactivates the flag and effectively releases the object.

  9. Conclusion • Throughout this project we learned a lot about real time systems. • After seeing everything we learned come together in physical form many of the concepts from the classroom made a lot more sense. • We had some issues with the hardware but it was fun. • Java rules!

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