taskMotor_04.py File Reference

For running the motor and motor drivers. More...

Functions
def	taskMotor_04.taskMotorFcn (str taskName, int period, shares_04.Share_04 duty1, shares_04.Share_04 duty2, shares_04.Share_04 cFlag)
	Function to execute the state management functionality for the motor tasks. More...

Variables
	taskMotor_04.S0_INIT = micropython.const(0)
	Maps state 0 to a more readable const S0_INIT.
	taskMotor_04.S1_COMMAND = micropython.const(1)
	Maps state 1 to a more readable const S1_COMMAND.

Detailed Description

For running the motor and motor drivers.

Continuously updates the motors with desired duty cycles after initialization.

Author

Caleb Savard

Chris Linthacum

Date

February 23, 2022

Function Documentation

taskMotorFcn()

def taskMotor_04.taskMotorFcn	(	str	taskName,
		int	period,
		shares_04.Share_04	duty1,
		shares_04.Share_04	duty2,
		shares_04.Share_04	cFlag
	)

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.
duty1	Shared data object to encapsulate the desired duty cycle of motor 1.
duty2	Shared data object to encapsulate the desired duty cycle of motor 2.
cFlag	Shared data object to signal that a fault needs to be cleared.