quanser.hardware.hil.task_create_encoder_reader_pwm_writer

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Creates a task to read the specified encoder channels and write to the specified PWM channels.

Syntax

[task, err] = board.task_create_encoder_reader_pwm_writer(samples_in_buffer, encoder_channels, pwm_channels)

Description

Creates a task to read the specified encoder channels and write to the specified PWM channels. The task must be deleted using the task.close or task_delete_all function. Tasks are used for operation such as data streaming and control. Tasks maintain an internal buffer into which samples are read or from which samples are written in the background once the task is started. Data may be written asynchronously to this buffer using the task_write functions or read from this buffer using the task_read functions.

If no err output is provided then it throws an exception if an error occurs. In generated code it prints the error message. Use hil_get_error_message to get the message associated with an error code.

Parameters

board

The board instance returned by the quanser.hardware.hil.open function.

samples_in_buffer

The number of samples in the task's internal buffer. For double-buffering, make this parameter twice the size of the number of samples written using task_write_pwm.

encoder_channels

A vector of encoder input channel numbers. Channel numbers are zero-based.

Select a board type from the list for board-specific details: .

pwm_channels

A vector of PWM output channel numbers. Channel numbers are zero-based.

Select a board type from the list for board-specific details: .

Outputs

task

A task instance.

err

A negative error code or zero on success.

Examples

% Creates a task to read encoder channel 5, and write to PWM channels 0 and 3, with an internal buffer of 1000 samples.
task = board.task_create_encoder_reader_pwm_writer(1000, [0 3], 5);