motor_task

class motor_task.MotorTask(right_motor_pins, left_motor_pins, right_channel, left_channel, r_gains, l_gains)

Bases: object

A class to control motor speed and movement using PID control.

right_motor

Motor object for the right motor, controlled using PID.

Type:

Motor

left_motor

Motor object for the left motor, controlled using PID.

Type:

Motor

STOP

State representing a stopped motor (1).

Type:

int

MOVE

State representing a moving motor (2).

Type:

int

state

Current state of the motor task (STOP or MOVE).

Type:

int

current_speed

Current speed setting for the motors.

Type:

int

go(shares)

Controls motor speed and direction based on shared queue values.

Parameters:

shares (list) – A tuple containing queues for right/left motor speed, stopping states, and velocity feedback.

Yields:

state (int) – The value of the current state within the machine