encoder_task¶

class encoder_task.EncoderTask(pins)¶

Bases: object

A class to handle reading the encoder and updating shared variables.

right_enc_A¶

The pin for channel A for the right wheel encoder.

Type:: int

right_enc_B¶

The pin for channel B for the right wheel encoder.

Type:: int

right_enc_timer¶

The channel timer number for the right wheel encoder.

Type:: int

left_enc_A¶

The pin for channel A for the left wheel encoder.

Type:: int

left_enc_B¶

The pin for channel B for the left wheel encoder.

Type:: int

left_enc_timer¶

The channel timer number for the left wheel encoder.

Type:: int

S0_init¶

Initialization state value.

Type:: int

S1_init¶

Read state value.

Type:: int

state¶

Current state value.

Type:: int

right_encoder¶

Encoder class object for the right wheel encoder.

Type:: Encoder

left_encoder¶

Encoder class object for the left wheel encoder.

Type:: Encoder

encoder_gen(shares)¶

The generator that implements the finite state machine for the Encoder task.

State 0 zeros the encoder and moves to state 1. State 1 updates the shares for the motor position and velocity for each motor from the Encoder class that handles the Encoder.

Parameters:: shares (list[right_pos, right_vel, left_pos, left_vel]) – Shared values for position and velocity for each wheel.
Yields:: state (int) – The value of the current state within the machine