MOTOR_TASK Class Reference

Finite State Machine for low-level motor control. More...

#include <motor_task.h>

Public Types
enum	state { S0_INIT , S1_IDLE , S2_RUN }
typedef enum MOTOR_TASK::state	state_t

Public Member Functions
	MOTOR_TASK ()
	Constructor for the MOTOR_TASK class.
void	run (void)
	Executes one iteration of the motor control task.

Detailed Description

Finite State Machine for low-level motor control.

Handles PID control for two motors using encoder feedback. Receives setpoints from higher-level modules (e.g., balance or heading).

Member Enumeration Documentation

state

enum MOTOR_TASK::state

Enumerator
S0_INIT	Initialization state.
S1_IDLE	Idle (standby) state.
S2_RUN	Active motor control loop.

Constructor & Destructor Documentation

MOTOR_TASK()

MOTOR_TASK::MOTOR_TASK

(

)

Constructor for the MOTOR_TASK class.

Initializes the FSM state and configures motor and encoder objects.

Member Function Documentation

run()

void MOTOR_TASK::run

(

void

)

Executes one iteration of the motor control task.

Executes one iteration of the MOTOR_TASK FSM.

Updates encoder data, applies PID logic, and adjusts PWM outputs.

Manages motor state transitions, runs PID control using encoder feedback, and integrates control efforts from balance and heading modules.

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

• Inc/motor_task.h
• Src/motor_task.cpp