encoderTask.encoderTask Class Reference

Task to call the encoder driver for current angles and velocities. More...

Public Member Functions
def	__init__ (self, debugFlag=True)
	Create an encoder task to find position and speeds. More...
def	encTaskFcn (self)
	Main run function of encoder task. More...
def	transitionTo (self, state, newState)
	Method for transitioning states. More...

Public Attributes
	debugFlag
	Debugging flag for detailed analysis while running.

Static Public Attributes
	S0_INIT = const(0)
	The initial state to set up the task.
	S1_ZERO_ENCODERS = const(1)
	State to zero the encoders at the start of the program.
	S2_READ_ENCODERS = const(2)
	Main state to read from the encoders.

Detailed Description

Task to call the encoder driver for current angles and velocities.

This task will be called from the priority scheduler to get the current angles and angular speeds of both encoders. This will be shared to the shares.py file for the controller task to read.

Constructor & Destructor Documentation

__init__()

def encoderTask.encoderTask.__init__	(		self,
			debugFlag = True
	)

Create an encoder task to find position and speeds.

This task will be called from the priority scheduler to get the current angles and angular speeds of both encoders. This will be shared to the shares.py file for the controller task to read.

Parameters

debugFlag

Enables or prevents certain print statements from appearing.

Member Function Documentation

encTaskFcn()

def encoderTask.encoderTask.encTaskFcn

(

self

)

Main run function of encoder task.

This function serves as a generator to run the finite state machine of the encoder task. It has three states, and uses an alpha-beta filter to determine position and velocity of the platform.

transitionTo()

def encoderTask.encoderTask.transitionTo	(		self,
			state,
			newState
	)

Method for transitioning states.

The method will reassign the state variable when directed to transition.

Parameters

state	The current state of the system.
newState	The new desired state for the system.

Returns

The new state of the finite state machine.

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The documentation for this class was generated from the following file:

• encoderTask.py