taskEncoder_04.py File Reference

Manages the states for the encoder task. More...

Functions
def	taskEncoder_04.taskEncoderFcn_04 (str taskName, int period, int sample_period, shares_04.Share_04 zFlag, shares_04.Share_04 pFlag, shares_04.Share_04 dFlag, shares_04.Share_04 gFlag, shares_04.Share_04 sFlag, shares_04.Share_04 dataPrint, shares_04.Share_04 testData, shares_04.Share_04 vFlag, shares_04.Share_04 input_signal)
	Function to execute the state management functionality for the encoder tasks. More...

Variables
	taskEncoder_04.S0_INIT = micropython.const(0)
	Maps state 0 to a more readable const S0_INIT.
	taskEncoder_04.S1_UPDATE = micropython.const(1)
	Maps state 1 to a more readable const S1_UPDATE.
	taskEncoder_04.S2_ZERO = micropython.const(2)
	Maps state 2 to a more readable const S2_ZERO.

Detailed Description

Manages the states for the encoder task.

Manages the current state and executes state-related logic for all encoder related functionality. Cycles through state for initialization, updating encoder, and zeroing encoder position.

Author

Caleb Savard

Chris Linthacum

Date

February 2, 2022

Function Documentation

taskEncoderFcn_04()

def taskEncoder_04.taskEncoderFcn_04	(	str	taskName,
		int	period,
		int	sample_period,
		shares_04.Share_04	zFlag,
		shares_04.Share_04	pFlag,
		shares_04.Share_04	dFlag,
		shares_04.Share_04	gFlag,
		shares_04.Share_04	sFlag,
		shares_04.Share_04	dataPrint,
		shares_04.Share_04	testData,
		shares_04.Share_04	vFlag,
		shares_04.Share_04	input_signal
	)

Function to execute the state management functionality for the encoder tasks.

Function manages states for the management of encoder functions. Performs all encoder related tasks including position updates, checking and storing encoder data, recording encoder position data, and zeroing the encoder when requested.

Parameters

taskName	Brief string to describe the instance of the function. Useful for debug purposes.
period	Period with which to run the function and update/execute state logic.
sample_period	Period to record position data when recording position data vs. time.
zFlag	Shared data object to encapsulate the z key being pressed. Signals that encoder should be zeroed.
pFlag	Shared data object to encapsulate the p key being pressed. Signals to print the encoder position.
dFlag	Shared data object to encapsulate the d key being pressed. Signals to print the encoder delta.
gFlag	Shared data object to encapsulate the g key being pressed. Signals to begin data collection.
sFlag	Shared data object to encapsulate the s key being pressed. Signals to end data collection prematurely.
dataPrint	Shared data object to store the recorded encoder data. Stores both the position data and time values.
testData	Shared data object to act as a flag to record avg velocity and to store the velocity data during testing.
vFlag	Shared data object to encapsulate the v key being pressed. Signals to print the encoder velocity.
input_signal	Shared data object to encapsulate the input signal for the controller, in this case the output velocity of the encoder. @yield state If task ran, yields state the function is now in. If task did not evaluate, returns None.