Lab4_task_encoder.Task_Encoder Class Reference

Encoder task that creates variables for encoder driver functions and parameters. More...

Public Member Functions
def	__init__ (self, period, enc_pos, z_flag, enc_delta, encoder_obj)
	Constructs an encoder task. More...
def	run (self)
	Runs one iteration of the FSM.

Public Attributes
	period
	The frequency of the task. More...
	enc_pos
	The encoder position that counts total movement. More...
	z_flag
	A boolean flag used to reset encoder position to 0. More...
	encoder_obj
	The encoder object that calls encoders 1 or 2. More...
	enc_delta
	The change in position. More...
	state
	Sets initial state to State 1. 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

Encoder task that creates variables for encoder driver functions and parameters.

Implements a finite state machine that interacts with the encoder driver and task user interface

Constructor & Destructor Documentation

__init__()

def Lab4_task_encoder.Task_Encoder.__init__	(		self,
			period,
			enc_pos,
			z_flag,
			enc_delta,
			encoder_obj
	)

Constructs an encoder task.

The encoder task is implemented as a finite state machine

Parameters

period	The period, in microseconds, between runs of the task
enc_pos	The encoder position that counts total movement
z_flag	A boolean flag used to reset encoder position to 0
enc_delta	The change in time increments in timer count
encoder_obj	The encoder object that calls encoders 1 or 2

Member Data Documentation

enc_delta

Lab4_task_encoder.Task_Encoder.enc_delta

The change in position.

The difference between two recorded positions of the encoder

enc_pos

Lab4_task_encoder.Task_Encoder.enc_pos

The encoder position that counts total movement.

The total position moved is characterized by the total number of timer counts

encoder_obj

Lab4_task_encoder.Task_Encoder.encoder_obj

The encoder object that calls encoders 1 or 2.

Encoders 1 or 2 was defined in the main.py file

next_time

Lab4_task_encoder.Task_Encoder.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

Lab4_task_encoder.Task_Encoder.period

The frequency of the task.

Defines variable that specifies timer frequency

runs

Lab4_task_encoder.Task_Encoder.runs

Sets the number of runs to 0.

Defines a variable to keep track of runs

state

Lab4_task_encoder.Task_Encoder.state

Sets initial state to State 1.

Starts timer.

FSM starts at State 1, where the update function is called for encoder object

An increasing microsecond counter with an arbitrary reference point

z_flag

Lab4_task_encoder.Task_Encoder.z_flag

A boolean flag used to reset encoder position to 0.

When character "z" is pressed on the keyboard, z-flag will be 'True' and reset encoder position

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

• Lab4_task_encoder.py