motor_task Namespace Reference

Classes
class	MotorControlTask

Detailed Description

@file motor_task.py
@brief Task to read encoders and actuate motors, updating encoder position and velocity shares.

This module defines the MotorControlTask class, which implements a finite state machine (FSM) to manage motor control operations. The task reads encoder data, computes control efforts based on the selected control mode, and actuates the motors accordingly. It also updates shared variables with encoder positions, velocities, and motor efforts for use by other tasks.