controllerDriverW4.controller Class Reference

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

Public Member Functions
def	__init__ (self, initKp, initKi)
	Controller constructor. More...
def	run (self, omegaDes, omegaAct, positionDes, positionAct)
	Runs the PI-Controller. More...
def	set_Kp (self, incomingKp)
	Sets the KpPrime gain value to a new Kp sent by the user. More...
def	set_Ki (self, incomingKi)
	Sets the KiPrime gain value to a new Ki sent by the user. More...
def	get_Kp (self)
	Returns the current KpPrime.
def	get_Ki (self)
	Returns the current KiPrime.
def	get_duty (self)
	Returns the most recent duty, L.

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

Detailed Description

Implements desired functions of a pi-controller.

Constructor & Destructor Documentation

__init__()

def controllerDriverW4.controller.__init__	(		self,
			initKp,
			initKi
	)

Controller constructor.

To initialize a pi-controller, all that is required is to input an initKp and initKi which should be float values.

Parameters

initKp	The KpPrime desired for the pi-controller.
initKi	The KiPrime desired for the pi-controller.

Member Function Documentation

run()

def controllerDriverW4.controller.run	(		self,
			omegaDes,
			omegaAct,
			positionDes,
			positionAct
	)

Runs the PI-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].
positinoDes	Desired position value [degree].
positinoAct	Actual position value [degree].

Returns

L Duty that is sent via PWM to the motor.

set_Ki()

def controllerDriverW4.controller.set_Ki	(		self,
			incomingKi
	)

Sets the KiPrime gain value to a new Ki sent by the user.

Parameters

incomingKi

A float value for the new KiPrime.

set_Kp()

def controllerDriverW4.controller.set_Kp	(		self,
			incomingKp
	)

Sets the KpPrime gain 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:

• controllerDriverW4.py