line_task.line_task Class Reference

line_task class that can be initialized to be run with the cotask scheduler. More...

Public Member Functions
	__init__ (self, lineSensor, l_state, need_Calibrate, ready_Black, ready_White, centroid)

Public Attributes
	lineSensor = lineSensor
	l_state = l_state
int	state = 0
	need_Cal = need_Calibrate
	ready_Black = ready_Black
	ready_White = ready_White
	centroid = centroid
list	black_data = [0.0]*13
list	white_data = [0.0]*13
bool	got_black = False
bool	got_white = False

Detailed Description

line_task class that can be initialized to be run with the cotask scheduler.

See run for behavior.

init is the line_task object initializer which takes 6 arguments. The arguments are a mix of hardware drivers and share flags.

Parameters

line_sensor	: line_sensor is the line_sensor object made in main. It is the sensor this task is reading.
l_state	: l_state is not actually used
need_Calibrate	: need_Calibrate is an integer share flag that tells control task whether the IR sensors are calibrated and control task is ok to start line following. It is set by the line sensor task.
ready_Black	: ready_Black is an integer share flag that UI task will set true when the ROMI is over a black surface for calibration.
ready_White	: ready_White is an integer share flag that UI task will set true when the ROMI is over a white surface for calibration.
centroid	: centroid is a float share that the line sensor task fills with the current location of the line that ROMI is following. It is used for the automatic line following mode in control task.

Definition at line 27 of file line_task.py.

Constructor & Destructor Documentation

__init__()

line_task.line_task.__init__	(		self,
			lineSensor,
			l_state,
			need_Calibrate,
			ready_Black,
			ready_White,
			centroid )

Definition at line 28 of file line_task.py.

Member Data Documentation

black_data

list line_task.line_task.black_data = [0.0]*13

Definition at line 36 of file line_task.py.

centroid

line_task.line_task.centroid = centroid

Definition at line 35 of file line_task.py.

got_black

bool line_task.line_task.got_black = False

Definition at line 38 of file line_task.py.

got_white

bool line_task.line_task.got_white = False

Definition at line 39 of file line_task.py.

l_state

line_task.line_task.l_state = l_state

Definition at line 30 of file line_task.py.

lineSensor

line_task.line_task.lineSensor = lineSensor

Definition at line 29 of file line_task.py.

need_Cal

line_task.line_task.need_Cal = need_Calibrate

Definition at line 32 of file line_task.py.

ready_Black

line_task.line_task.ready_Black = ready_Black

Definition at line 33 of file line_task.py.

ready_White

line_task.line_task.ready_White = ready_White

Definition at line 34 of file line_task.py.

state

int line_task.line_task.state = 0

Definition at line 31 of file line_task.py.

white_data

list line_task.line_task.white_data = [0.0]*13

Definition at line 37 of file line_task.py.

---

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

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