closed_loop.ClosedLoop Class Reference

Public Member Functions
	__init__ (self, kp, ki, sp_sh, battery, effort_limits=(-100, 100))
	reset (self)
	run (self, fb)

Public Attributes
	kp = kp
	ki = ki
	sp_sh = sp_sh
	effort_min
	effort_max = effort_limits
float	integrator = 0.0
	last_time = ticks_ms()
float	output = 0.0
float	last_output = 0.0
	battery = battery

Static Public Attributes
int	GEAR_RATIO = 3952/33
int	CPR_MOTOR = 12
int	CPR_WHEEL = GEAR_RATIO*CPR_MOTOR
int	RAD_PER_COUNT = 2 * math.pi / CPR_WHEEL

Detailed Description

Proportional-Integral (PI) controller for velocity control in rad/s.

Attributes:
    kp: Proportional gain (share object with get() method)
    ki: Integral gain (share object with get() method)
    sp_sh: Setpoint share object with get() method (desired velocity in rad/s)
    battery: Battery object for droop compensation (optional) 
    effort_limits: Tuple defining min and max effort (%)

Constructor & Destructor Documentation

__init__()

closed_loop.ClosedLoop.__init__	(		self,
			kp,
			ki,
			sp_sh,
			battery,
			effort_limits = (-100, 100) )

Member Function Documentation

reset()

closed_loop.ClosedLoop.reset

(

self

)

Reset controller integrator and state.

run()

closed_loop.ClosedLoop.run	(		self,
			fb )

Compute control output (effort %) from velocity feedback and measured battery voltage.

Args:
    fb: Feedback velocity in rad/s.
    
Returns:
    u: Control effort output (%).

Member Data Documentation

battery

closed_loop.ClosedLoop.battery = battery

CPR_MOTOR

int closed_loop.ClosedLoop.CPR_MOTOR = 12

static

CPR_WHEEL

int closed_loop.ClosedLoop.CPR_WHEEL = GEAR_RATIO*CPR_MOTOR

static

effort_max

closed_loop.ClosedLoop.effort_max = effort_limits

effort_min

closed_loop.ClosedLoop.effort_min

GEAR_RATIO

int closed_loop.ClosedLoop.GEAR_RATIO = 3952/33

static

integrator

float closed_loop.ClosedLoop.integrator = 0.0

ki

closed_loop.ClosedLoop.ki = ki

kp

closed_loop.ClosedLoop.kp = kp

last_output

float closed_loop.ClosedLoop.last_output = 0.0

last_time

closed_loop.ClosedLoop.last_time = ticks_ms()

output

float closed_loop.ClosedLoop.output = 0.0

RAD_PER_COUNT

int closed_loop.ClosedLoop.RAD_PER_COUNT = 2 * math.pi / CPR_WHEEL

static

sp_sh

closed_loop.ClosedLoop.sp_sh = sp_sh

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

• src/closed_loop.py