task_motor.py File Reference

Directly interfaces with motors. More...

Functions
def	task_motor.taskMotor (taskname, period, motor_1, motor_2, mFlag, MFlag, duty, duty_1, duty_2, eFlag, mode, bFlag)
	Task that is in charge of any alterations to drivers or motors. More...

Detailed Description

Directly interfaces with motors.

Task file to set duty cycle of motor 1 or motor 2. Interfaces with driver.py driver file to interact with the motor. Contains logic to ensure there are no improper duty cycle inputs.

Author

Ryan Dean

Zachary Hendrix

Date

2/17/2022

Function Documentation

taskMotor()

def task_motor.taskMotor	(		taskname,
			period,
			motor_1,
			motor_2,
			mFlag,
			MFlag,
			duty,
			duty_1,
			duty_2,
			eFlag,
			mode,
			bFlag
	)

Task that is in charge of any alterations to drivers or motors.

This task sets the duty cycle for both mototr as well as enables driver to allow said motors to operate

Parameters

taskname	The name of the task
period	This task is designed to work cooperatively with other tasks. The period is how long it should take for the code to circle back and do this task
motor_1	Object to control duty cycle of motor 1
motor_2	Object ot control duty cycle of motor 2
duty_1	Shared variable containing duty cycle for motor 1
duty_2	Shared variable containing duty cycle for motor 2
mode	Flag that only allows program to run when ball balancing mode is enabled.