Initializes values and manages tasks. More...

Variables
	main.mFlag = shares.Share(False)
	Signal that the button m has been pressed. More...

	main.MFlag = shares.Share(False)
	Signal that the button M has been pressed. More...

	main.duty = shares.Share(0)
	Empty string that stores the duty cycle input. More...

	main.Dtime = shares.Share(0)
	Stores a single data point reading the delta time between updates.

	main.eFlag = shares.Share(False)
	Signal that the button e has been pressed. More...

	main.tFlag = shares.Share(False)
	Signal that the button t has been pressed. More...

	main.motor_drv = driver.DRV8847(3)
	The instance of the driver class. More...

	main.task3 = taskMotor('taskMotor',10_000, motor_drv, mFlag, MFlag, duty, eFlag)
	Holds task information and settings to pass into task_motor.py.

Detailed Description

Initializes values and manages tasks.

This is the main file to run the tasks required to interact with the encoder. It will continually call the specified task until the user interrupts the program by ending it with Keyboard Interrupt (Ctrl-C). Variables shared between tasks are initialized here and the tasks, and there periods are defined to run at 100Hz. Clink on the link for Lab 3 for more information.

Author: Ryan Dean; Zachary Hendrix

Date: 2/3/2022

Variable Documentation

◆ duty

main.duty = shares.Share(0)

Empty string that stores the duty cycle input.

Stores the duty cycle input in order to keep code running cooperatively.

◆ eFlag

main.eFlag = shares.Share(False)

Signal that the button e has been pressed.

Shared object so we can update its value in every file. It turns true after e is pressed, and turns false after the driver has been enabled.

◆ mFlag

main.mFlag = shares.Share(False)

Signal that the button m has been pressed.

Shared object so we can update its value in every file. It turns true after m is pressed, and turns false after the encoder 1 value has been entered.

◆ MFlag

main.MFlag = shares.Share(False)

Signal that the button M has been pressed.

Shared object so we can update its value in every file. It turns true after M is pressed, and turns false after the encoder 2 value has been entered.

◆ motor_drv

main.motor_drv = driver.DRV8847(3)

The instance of the driver class.

Creates a new driver instance that is used through this lab. This gets referenced to use all of the driver methods.

◆ tFlag

main.tFlag = shares.Share(False)

Signal that the button t has been pressed.

Shared object so we can update its value in every file. It turns true after t is pressed, activates a testing interface that allows the user to input duty cycles and recieve velocities that correspond to those duty cycles