bump_task.Bump_Task Class Reference

Collision detector for cooperative scheduler. More...

Public Member Functions
	__init__ (self, c_state, bump_sensor_right, bump_sensor_left, bump_on_off, bump_flg)
	Shares are passed as parameters, used to communicate between tasks in the cooperative scheduler.
	run (self)
	This function runs via the cooperative scheduler.

Public Attributes
	c_state = c_state
	bump_sensor_right = bump_sensor_right
	bump_sensor_left = bump_sensor_left
int	state = 0
	bump_on_off = bump_on_off
	bump_flg = bump_flg

Detailed Description

Collision detector for cooperative scheduler.

This class runs continuously, setting flags that are shared with other tasks.

The Bump task uses two sensor objects, for left and right side of the Romi. Any collision with either side will be treated the same.

Author

Alex Power, Lucas Heuchert, Erik Heuchert

Date

2025-Dec-8 Approximate date of creation of file

2025-Dec-12 Final alterations made

Definition at line 10 of file bump_task.py.

Constructor & Destructor Documentation

__init__()

bump_task.Bump_Task.__init__	(		self,
			c_state,
			bump_sensor_right,
			bump_sensor_left,
			bump_on_off,
			bump_flg )

Shares are passed as parameters, used to communicate between tasks in the cooperative scheduler.

Parameters

c_state	A flag used to tell which control state is desired
bump_sensor_right	The right bump Sensor Object
bump_sensor_left	The left bump Sensor Object
bump_on_off	A flag to tell bump_task to read if the sensors are pressed
bump_flg	A flag set if a sensor was pressed while being read

Definition at line 17 of file bump_task.py.

Member Function Documentation

run()

bump_task.Bump_Task.run

(

self

)

This function runs via the cooperative scheduler.

State 0 Not reading sensors

State 1 Reading sensors

Effects

Sets bump_flg to 1 when a sensor is pressed from left or right side

Definition at line 35 of file bump_task.py.

Member Data Documentation

bump_flg

bump_task.Bump_Task.bump_flg = bump_flg

Definition at line 23 of file bump_task.py.

bump_on_off

bump_task.Bump_Task.bump_on_off = bump_on_off

Definition at line 22 of file bump_task.py.

bump_sensor_left

bump_task.Bump_Task.bump_sensor_left = bump_sensor_left

Definition at line 20 of file bump_task.py.

bump_sensor_right

bump_task.Bump_Task.bump_sensor_right = bump_sensor_right

Definition at line 19 of file bump_task.py.

c_state

bump_task.Bump_Task.c_state = c_state

Definition at line 18 of file bump_task.py.

state

int bump_task.Bump_Task.state = 0

Definition at line 21 of file bump_task.py.

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

• C:/Users/14083/vscode_python/bump_task.py