taskMoveMachine.cpp File Reference

#include "taskMoveMachine.h"
#include <math.h>

Functions
void	taskMoveMachine (void *p_params)
	Task: Move Machine. More...

Detailed Description

Task to control the two DC and one servo motor on the canopener Each state in the task is controlled by the limit switches in taskLimitSwitches.cpp

Author

Hunter Morse

Date

Nov 30, 2021

Function Documentation

taskMoveMachine()

void taskMoveMachine

(

void *

p_params

)

Task: Move Machine.

Period: 10ms, Priority: 3/4 Task dictates the movement of the machine through 8 distinct states. State 0: Check if can detected in machine 1: Move head down until touching top of can 2: Back of slightly from the top of the can 3: Rotate base to find the tab 4: Open the can 5: Move head up for easy removal of the can 6: Move the opening motor back to position 7: Move the base back to position

Parameters

p_params

task parameters