closedLoop.closedLoop Class Reference

This class implements a controller driver for theME305 board. More...

Public Member Functions
def	__init__ (self, KpPrime, KiPrime, debugFlag=False)
	Constructor for controller driver class. More...
def	update (self, omegaRef, omega, thetaRef, theta)
	Update method for controller. More...
def	get_Kp (self)
	Method for calling current Kp value. More...
def	set_Kp (self, newKpPrime)
	Method for setting Kp. More...

Public Attributes
	debugFlag
	Debugging flag for print statements in Putty.
	KpPrime
	Velocity feedback constant.
	KiPrime
	Position feedback constant.

Detailed Description

This class implements a controller driver for theME305 board.

Constructor & Destructor Documentation

__init__()

def closedLoop.closedLoop.__init__	(		self,
			KpPrime,
			KiPrime,
			debugFlag = False
	)

Constructor for controller driver class.

Parameters

KpPrime	Velocity feedback constant
KiPrime	Position feedback constant
debugFlag	Debugging flag related to print statements in Putty

Member Function Documentation

get_Kp()

def closedLoop.closedLoop.get_Kp

(

self

)

Method for calling current Kp value.

Returns

Current gain value

set_Kp()

def closedLoop.closedLoop.set_Kp	(		self,
			newKpPrime
	)

Method for setting Kp.

Parameters

newKpPrime

New gain value

update()

def closedLoop.closedLoop.update	(		self,
			omegaRef,
			omega,
			thetaRef,
			theta
	)

Update method for controller.

This method is run on every period of the controller task, and takes in desired and current speed and position to get a new PWM level for the motors.

Parameters

omegaRef	Reference speed, interpolated at current time from reference data set
omega	Current speed, called from encoder driver object
thetaRef	Reference position, interpolated at current time from reference data set
theta	Current position, called from encoder driver object

Returns

Desired PWM level for motor

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

• closedLoop.py