encoderTask.py File Reference

Interface with the encoder driver to find angle and angular speed. More...

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

Variables
	encoderTask.encY = encoderDriver(False, pin1 = pyb.Pin.cpu.C6, pin2 = pyb.Pin.cpu.C7, encTimer = 8)
	An instance of the encoder driver on motor X.
	encoderTask.encX = encoderDriver(False, pin1 = pyb.Pin.cpu.B6, pin2 = pyb.Pin.cpu.B7, encTimer = 4)
	An instance of the encoder driver on motor Y.

Detailed Description

Interface with the encoder driver to find angle and angular speed.

When called by the scheduler, this task gets the newest speed and angle from the encoderDriver.py and send that to shares.py. Also, during platform levelling, the encoders can be zeroed before the controller begins. See source code here: Encoder Task Source Code

Author

Matthew Frost

Ryan McLaughlin

Date

Originally created on 05/21/21
Last modified on 06/03/21