encoderTaskW2.encoderTask Class Reference

Runs the encoder tasks. More...

Public Member Functions
def	__init__ (self, frequency)
	Constructor for encoderTask. More...
def	run (self)
	Runs finite state machine for encoder task. More...

Public Attributes
	enc_1
	Object for encoder 1.
	state
	State tracking variable.
	frequency
	Times per second data is collected from the encoder.
	nextTime
	Timer to determine when in the future data can be collected.
	thisTime
	Timer to track current time and compare to nextTime, which is in the future.

Detailed Description

Runs the encoder tasks.

Works along side the UITask and uses the share file for inter-task communication. This will eventually get ran inside the main file while loop.

Constructor & Destructor Documentation

__init__()

def encoderTaskW2.encoderTask.__init__	(		self,
			frequency
	)

Constructor for encoderTask.

This class constructor takes 1 attribute being the frequency. The frequency is the Hz at which you wish you encoder to collect data. For example frequency = 10 [Hz] means 10 samples from the encoder will be taken every second. This frequency must match the frequency in the UITask for consistency.

Parameters

frequency

The number of samples per second desired from the encoder.

Member Function Documentation

run()

def encoderTaskW2.encoderTask.run

(

self

)

Runs finite state machine for encoder task.

This task has 4 states. The init state waits until the user types a 'g'. Then, the encoder starts reading data until otherwise told. If a 'z' is read the encoder should zero the position at its current position. If a 's' is read the encoder should terminate its encoder data collection. The data that the encoder can collect and send to the share file is update() which is a queue of all the positions collected from the encoder, get_position() which is the current position reading of the encoder, and get_delta() which is the most recent delta value of the encoder.

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

• encoderTaskW2.py