task_encoder.py File Reference

Directly interfaces with encoder. More...

Functions
def	task_encoder.taskEncoder (taskname, period, zFlag, pFlag, dFlag, gFlag, position, delta, P, T)
	Generator function to inteface with encoder. More...

Detailed Description

Directly interfaces with encoder.

Called at a frequency of 100Hz, this task file uses the class Encoder within the encoder.py drive file to interface with the encoder. Continually updating the position of the encoder, this task file uses flag values altered by the user in task_user.py to execute actions defined in encoder.py. Once the action is completed, these flags are reset.

The below image shows the state transition diagram employed for this task file:

Author

Ryan Dean

Zachary Hendrix

Date

2/1/2022

Function Documentation

taskEncoder()

def task_encoder.taskEncoder	(		taskname,
			period,
			zFlag,
			pFlag,
			dFlag,
			gFlag,
			position,
			delta,
			P,
			T
	)

Generator function to inteface with encoder.

Generator function receives values of certain flags that correspond to a desired action from the user. This then triggers the function to interact with the encoder.py drive file, performing the necessary action or storing the value for the user to then see with their interface.

Parameters

taskname	Name of the task being performed.
period	Specifies how long the task has to perform its function. received as microseconds. Specified as an integer.
zFlag	Holds True or False value to know when zeroing command was called by the user to zero the current position of the encoder.
pFlag	Holds True or False value to know when position command was called by the user to know the current position of the encoder.
dFlag	Holds True or False value to know when delta command was called by the user to know the current delta (speed) of the encoder.
gFlag	Holds True or False value to know when data collection command was called by the user to collect current time and position data.
position	Stores current position of encoder to be transferred to task_user.py
delta	Stores the delta (speed) of the encoder to be transferred to task_user.py
P	Stores current position of encoder for data collection
T	Stores current time of encoder for data collection

Returns

yields None