Creates and controls motor objects. More...

Functions
def	taskMotor.taskMotorFcn (str taskName, int period, shares.Share roll_target_duty, shares.Share pitch_target_duty)
	Function to execute the state management functionality for the motor tasks. More...

Variables
	taskMotor.S0_INIT = micropython.const(0)
	State 0. More...

	taskMotor.S1_COMMAND = micropython.const(1)
	State 1. More...

Detailed Description

Creates and controls motor objects.

Continuously updates the motors with desired duty cycles after initialization. This task initializes the X (roll) motor to be on pins B0 and B1, and timer channels 3 and 4. The Y (pitch) motor is configured on pins B4 and B5, and timer channels 1 and 2. This task also saturates duty cycles to a maximum of +/-100, printing a warning if this saturation limit is reached.

Author: Caleb Savard; Chris Linthacum

Date: February 23, 2022

Function Documentation

◆ taskMotorFcn()

def taskMotor.taskMotorFcn	(	str	taskName,
		int	period,
		shares.Share	roll_target_duty,
		shares.Share	pitch_target_duty
	)

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

Function manages states for the management of motor functions. Performs all motor related processes including setting motor duty cycle, initialization, and clearing faults.

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.
roll_target_duty	Shared data object to encapsulate the desired duty cycle of motor 1.
pitch_target_duty	Shared data object to encapsulate the desired duty cycle of motor 2.

Variable Documentation

◆ S0_INIT

taskMotor.S0_INIT = micropython.const(0)

State 0.

Maps state 0 to a more readable const S0_INIT

◆ S1_COMMAND

taskMotor.S1_COMMAND = micropython.const(1)

State 1.

Maps state 1 to a more readable const S1_COMMAND