closedloopcontrol.cl_loop Class Reference

This class implements a proportional controller for an ME 405 kit. More...

Public Member Functions
def	__init__ (self, gain, setpoint)
	Creates a proportional controller with a gain and setpoint.
def	run (self, output)
	Evaluates the difference between motor position and setpoint, and returns a pwm percentage.
def	set_setpoint (self, setpoint)
	Sets the setpoint of the controller.
def	set_kp (self, gain)
	Sets the gain of the controller.
def	get_pos_data (self)
	Returns the list of time and data (all in one list to make UART transmission easier)

Public Attributes
	gain
	Kp of the system.
	setpoint
	Desired position (in encoder ticks)
	pos_data
	Single list for both position and data (alternating positions)
	prev_time
	Reference time to calculate time elapsed between encoder readings.
	time
	Time elapsed since beginning of step response test.

Detailed Description

This class implements a proportional controller for an ME 405 kit.

Constructor & Destructor Documentation

__init__()

def closedloopcontrol.cl_loop.__init__	(		self,
			gain,
			setpoint
	)

Creates a proportional controller with a gain and setpoint.

Parameters

gain	Float variable representing the gain coefficient of the proportional control (Kp)
setpoint	Integer representing the desired motor position in encoder ticks

Member Function Documentation

get_pos_data()

def closedloopcontrol.cl_loop.get_pos_data

(

self

)

Returns the list of time and data (all in one list to make UART transmission easier)

run()

def closedloopcontrol.cl_loop.run	(		self,
			output
	)

Evaluates the difference between motor position and setpoint, and returns a pwm percentage.

Parameters

output

Integer representing current motor position in encoder ticks

set_kp()

def closedloopcontrol.cl_loop.set_kp	(		self,
			gain
	)

Sets the gain of the controller.

Parameters

gain	Float representing the gain of the controller

set_setpoint()

def closedloopcontrol.cl_loop.set_setpoint	(		self,
			setpoint
	)

Sets the setpoint of the controller.

Parameters

setpoint

Integer representing desired final motor position in encoder ticks

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

• src/closedloopcontrol.py