closedloop_04.ClosedLoop_04 Class Reference

Driver class for a Closed Loop Controller. More...

Public Member Functions
def	__init__ (self, shares_04.Share_04 input_signal, shares_04.Share_04 target_val, int prop_gain, int sat_limit_low, int sat_limit_high)
	Initializes the ClosedLoop object. More...
def	update (self)
	Returns an output signal based on the initialized share variables. More...
def	set_Kp (self, new_Kp)
	Sets the Kp to a new value. More...

Detailed Description

Driver class for a Closed Loop Controller.

Used to control a signal and provide output to achieve desired steady state

Constructor & Destructor Documentation

__init__()

def closedloop_04.ClosedLoop_04.__init__	(		self,
		shares_04.Share_04	input_signal,
		shares_04.Share_04	target_val,
		int	prop_gain,
		int	sat_limit_low,
		int	sat_limit_high
	)

Initializes the ClosedLoop object.

Objects of this class act as a Proportional Controller, taking in an input signal and target value, along with a proportional gain.

Parameters

input_signal	Share object containing the input signal to the controller.
target_val	Share object containing the desired reference value for the controller.
prop_gain	Share object containing the Kp for the controller.
sat_limit_low	Minimum value to saturate the controller output at.
sat_limit_high	Maximum value to saturate the controller output at.

Member Function Documentation

set_Kp()

def closedloop_04.ClosedLoop_04.set_Kp	(		self,
			new_Kp
	)

Sets the Kp to a new value.

Replaces the existing Kp with a new value.

Parameters

new_Kp

The new value of Kp (proportional gain) to be set.

update()

def closedloop_04.ClosedLoop_04.update

(

self

)

Returns an output signal based on the initialized share variables.

Multiplies the error signal by the proportional gain to obtain an output signal. If the output signal exceeds the saturation limits, return the saturation limit instead.

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

• ME305_code/Lab0x04/closedloop_04.py