ClosedLoop.ClosedLoop Class Reference

Contains all of the functions that are responsible for closed-loop PID control. More...

Public Member Functions
def	__init__ (self)
	A function that initializes the controller driver. More...
def	update_inner (self, eul_ang, dt, ang_vel, ref)
	Updates the duty cycle under closed-loop control. More...
def	update_outer (self, eul_ang, dt, ang_vel, ref, contact)
	Updates the duty cycle under closed-loop control. More...
def	set_gain_inner (self, Kp, KI, Kd)
	Sets the gain and velocity reference values. More...
def	set_gain_outer (self, Kp, KI, Kd)
	Sets the gain and velocity reference values. More...

Public Attributes
	maxDuty
	minDuty
	int_error
	int_error_o
	ang_vel
	eul_ang
	time_diff
	ref
	error
	deriv_error
	Duty
	ang_vel_o
	eul_ang_o
	time_diff_o
	ref_o
	error_o
	deriv_error_o
	Duty_o
	Kp_i
	KI_i
	Kd_i
	Kp_o
	KI_o
	Kd_o

Detailed Description

Contains all of the functions that are responsible for closed-loop PID control.

This class is used to calculate a value based on a closed loop PID controller architecture. This calculated value can be anything, as long as the correct inputs are given, making this driver very reusable. Separate functions were used for the inner and outer control loops to easily differentiate the variables from each other.

Constructor & Destructor Documentation

__init__()

def ClosedLoop.ClosedLoop.__init__

(

self

)

A function that initializes the controller driver.

This fucntion sets the limits for closed-loop duty cycles.

Member Function Documentation

set_gain_inner()

def ClosedLoop.ClosedLoop.set_gain_inner	(		self,
			Kp,
			KI,
			Kd
	)

Sets the gain and velocity reference values.

This function passed the user-selected values for gain and Vref and passes them to the update() function.

Parameters

Kp	is the share of the user-requested proportional gain.
Ki	is the share of the user-requested integral gain.
omega_ref	is the velocity requested by the user in taskUser.

set_gain_outer()

def ClosedLoop.ClosedLoop.set_gain_outer	(		self,
			Kp,
			KI,
			Kd
	)

Sets the gain and velocity reference values.

This function passed the user-selected values for gain and Vref and passes them to the update() function.

Parameters

Kp	is the share of the user-requested proportional gain.
Ki	is the share of the user-requested integral gain.
omega_ref	is the velocity requested by the user in taskUser.

update_inner()

def ClosedLoop.ClosedLoop.update_inner	(		self,
			eul_ang,
			dt,
			ang_vel,
			ref
	)

Updates the duty cycle under closed-loop control.

This function is in charge of actually using the gains to assign a duty cycle to a motor to minimize error.

Parameters

omega_meas

is the current velocity of the motor.

Returns

Duty percentage of one motor is returned.

update_outer()

def ClosedLoop.ClosedLoop.update_outer	(		self,
			eul_ang,
			dt,
			ang_vel,
			ref,
			contact
	)

Updates the duty cycle under closed-loop control.

This function is in charge of actually using the gains to assign a duty cycle to a motor to minimize error.

Parameters

omega_meas

is the current velocity of the motor.

Returns

Duty percentage of one motor is returned.

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

• src/ClosedLoop.py