taskController.py File Reference

The task that interfaces with the Closed Loop class. More...

Functions
def	taskController.taskControllerFcn (taskName, period, clFlag, Velocity, Duty1, Kp, Ki, Kd, Data, Duty2, Position, Contact)
	This function interacts with the ClosedLoop driver, sending a duty cycle based on the calculated error. More...

Variables
	taskController.S0_INIT = micropython.const(0)
	taskController.S1_SET = micropython.const(1)
	taskController.S2_ACTIVE = micropython.const(2)
	taskController.S3_NOBALL = micropython.const(3)

Detailed Description

The task that interfaces with the Closed Loop class.

This task's main function is to provide the ClosedLoop driver with the user-selected gain and Vref values.

@author     Jake Lesher
@author     Daniel Xu
@date       02/23/2022

Function Documentation

taskControllerFcn()

def taskController.taskControllerFcn	(		taskName,
			period,
			clFlag,
			Velocity,
			Duty1,
			Kp,
			Ki,
			Kd,
			Data,
			Duty2,
			Position,
			Contact
	)

This function interacts with the ClosedLoop driver, sending a duty cycle based on the calculated error.

This function calls upon the driver to set the duty cycle percentage for motor 1.

Parameters

taskName	is the name associated the with taskController in main.py.
period	sets the rate at which taskController is to run.
clFlag	is the shared boolean that toggles closed-loop control.
Velocity	is the share of the velocity value with taskEncoder.py
Vref	is the share of the velocity requested by the user in taskUser.
Duty1	is the share that contains the duty cycle percentage for motor 1.
Kp	is the share of the user-requested proportional gain.
Ki	is the share of the user-requested integral gain.