controllerDriverW3.controller Class Reference

Implements desired functions of a p-controller. More...

Public Member Functions
def	__init__ (self, initKp)
	Controller constructor. More...
def	run (self, omegaDes, omegaAct)
	Runs the p-controller. More...
def	set_Kp (self, incomingKp)
	Sets the KpPrime value to a new Kp sent by the user. More...
def	get_Kp (self)
	Returns the current KpPrime.
def	get_duty (self)
	Returns the most recent duty, L.

Public Attributes
	KpPrime
	KpPrime for your controller.
	L
	Duty sent to motor via PWM.

Detailed Description

Implements desired functions of a p-controller.

Constructor & Destructor Documentation

__init__()

def controllerDriverW3.controller.__init__	(		self,
			initKp
	)

Controller constructor.

To initialize a p-controller, all that is required is to input a initKp which should be a flaot value.

Parameters

initKp

The KpPrime desired for the p-controller.

Member Function Documentation

run()

def controllerDriverW3.controller.run	(		self,
			omegaDes,
			omegaAct
	)

Runs the p-controller.

This function corrects the error in omega by mulitplying by the gain to determine the duty required to get the motor closer to the desired omega. It also prevents the duty from setting outside of -100% < L < 100% because the motors we use don't like to go above this range.

Parameters

omegaDes	Desired omega value [RPM].
omegaAct	Actual omega value [RPM].

set_Kp()

def controllerDriverW3.controller.set_Kp	(		self,
			incomingKp
	)

Sets the KpPrime value to a new Kp sent by the user.

Parameters

incomingKp

A float value for the new KpPrime.

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

• controllerDriverW3.py