task_motor.Task_Motor Class Reference

Interface with two DR8847 motors. More...

Public Member Functions
def	__init__ (self, dutyX, dutyY, state)
	Constructs a motor driver object and creates two motor objects. More...
def	run (self)
	Updates each motor to run at the specified duty cycle. More...
def	enable (self)
	This method enables the motors. More...
def	disable (self)
	This method disables the motors. More...

Public Attributes
	motor_drv
	This object is the motor driver.
	motor1
	This object is the first motor constructed from the driver.
	motor2
	This object is the second motor constructed from the driver.
	dutyX
	This object is a shares object describing the duty cycle to run motor 1.
	dutyY
	This object is a shares object describing the duty cycle to run motor 2.
	state
	This object is a shares object describing the state of the finite state machine.
	motorboolvalue
	This value is used to quickly enable and disable the motors, primarily for debugging.

Detailed Description

Interface with two DR8847 motors.

This class has one main function that runs the two motors.

Constructor & Destructor Documentation

__init__()

def task_motor.Task_Motor.__init__	(		self,
			dutyX,
			dutyY,
			state
	)

Constructs a motor driver object and creates two motor objects.

The contructor function creates a motor driver object and creates two motor objects from the motor driver.

Parameters

dutyX	A shares. Share object describing the duty cycle to run the motor responsible for controlling the x direction.
dutyY	A shares. Share object describing the duty cycle to run the motor responsible for controlling the y direction.

Member Function Documentation

disable()

def task_motor.Task_Motor.disable

(

self

)

This method disables the motors.

This changes a value that is multiplied to the duty cycle. This multiplier is "0" in this method.

enable()

def task_motor.Task_Motor.enable

(

self

)

This method enables the motors.

This changes a value that is multiplied to the duty cycle. This multiplier is "1" in this method.

run()

def task_motor.Task_Motor.run

(

self

)

Updates each motor to run at the specified duty cycle.

This function reads from the duty cycle shares object. The data from the duty cycle is then used to run a method of the motor driver class to set the duty cycle.

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

• task_motor.py