Lab3_task_motor.Task_Motor Class Reference

Motor task that creates variables for motor driver functions and parameters. More...

Public Member Functions
def	__init__ (self, period, motor_obj, motor_drv, fault_user_flag, enable_flag, dutycycle)
	Constructs a motor task. More...
def	run (self)
	Runs one iteration of the FSM.
def	transition_to (self, new_state)
	Transitions the FSM to a new state. More...

Public Attributes
	fault_user_flag
	A boolean flag used to alert user of fault for a corresponding motor. More...
	enable_flag
	A boolean flag used to enable a corresponding motor. More...
	dutycycle
	A variable that defines duty cycle for a corresponding motor. More...
	motor_obj
	The motor object that calls motors 1 or 2. More...
	motor_drv
	The motor driver object that calls DRV8847. More...
	period
	The frequency of the task. More...
	state
	Initializes starting state to be state 2. More...
	runs
	Sets the number of runs to 0. More...
	next_time
	The utime.ticks_us() value associated with the next run of the FSM. More...

Detailed Description

Motor task that creates variables for motor driver functions and parameters.

Implements a finite state machine for lab 3

Constructor & Destructor Documentation

__init__()

def Lab3_task_motor.Task_Motor.__init__	(		self,
			period,
			motor_obj,
			motor_drv,
			fault_user_flag,
			enable_flag,
			dutycycle
	)

Constructs a motor task.

The motor task is implemented as a finite state machine.

Parameters

period	The period, in microseconds, between runs of the task
motor_obj	The motor object that calls motors 1 or 2
motor_drv	The motor driver object that calls DRV8847
fault_user_flag	A boolean flag used to alert user of fault for a corresponding motor
enable_flag	A boolean flag used to enable a corresponding motor
dutycycle	A variable that defines duty cycle for a corresponding motor

Member Function Documentation

transition_to()

def Lab3_task_motor.Task_Motor.transition_to	(		self,
			new_state
	)

Transitions the FSM to a new state.

A function that transitions the FSM to a new state

Parameters

new_state

The state to transition to

Member Data Documentation

dutycycle

Lab3_task_motor.Task_Motor.dutycycle

A variable that defines duty cycle for a corresponding motor.

Duty cycle values control motor speed

enable_flag

Lab3_task_motor.Task_Motor.enable_flag

A boolean flag used to enable a corresponding motor.

Used to communicate enable function between driver, motor task, and user task

fault_user_flag

Lab3_task_motor.Task_Motor.fault_user_flag

A boolean flag used to alert user of fault for a corresponding motor.

Used to indicate fault in user interface

motor_drv

Lab3_task_motor.Task_Motor.motor_drv

The motor driver object that calls DRV8847.

This motor driver was defined in the main.py file

motor_obj

Lab3_task_motor.Task_Motor.motor_obj

The motor object that calls motors 1 or 2.

Motors 1 or 2 were defined in the main.py file

next_time

Lab3_task_motor.Task_Motor.next_time

The utime.ticks_us() value associated with the next run of the FSM.

Defines a variable that adds the period to the ongoing timer

period

Lab3_task_motor.Task_Motor.period

The frequency of the task.

Defines variable that specifies timer frequency

runs

Lab3_task_motor.Task_Motor.runs

Sets the number of runs to 0.

Defines a variable to keep track of runs

state

Lab3_task_motor.Task_Motor.state

Initializes starting state to be state 2.

Motors begin in the stop state

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

• Lab3_task_motor.py