taskEncoder.cpp File Reference

#include <Arduino.h>
#include <STM32FreeRTOS.h>
#include <PrintStream.h>
#include "../../lib/sensorLib/encoder_counter.h"
#include "../shares.h"
#include "../pins.h"
#include "taskEncoder.h"

Functions
void	taskEncoder (void *p_params)
	Task: Read encoder values. More...
int64_t	fixDelta (int64_t delta, uint32_t period)
	Function: Fix delta. More...

Variables
const uint32_t	tim4period = 65535
	The period of Timer 4.
const uint32_t	tim5period = UINT32_MAX
	The period of Timer 5.

Detailed Description

Task to read the DC motor encoder values Uses Dr. Ridgely's encoder_counter codd

Author

Ben Bons

Date

Dec 01, 2021

Function Documentation

fixDelta()

int64_t fixDelta	(	int64_t	delta,
		uint32_t	period
	)

Function: Fix delta.

Prevent overflow values from interfering wiht parameter calculations

Parameters

delta	(int64_t) difference between current and previous encoder value
period	(uint32_t) number of encoder values before overflow

taskEncoder()

void taskEncoder

(

void *

p_params

)

Task: Read encoder values.

Period: 10ms, Priority: 2/4 Read the values of the DC motor encoders and put them into thier respecive shares

Parameters

p_params

task parameters