closedloop_05.ClosedLoop_05 Class Reference

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

Public Member Functions
def	__init__ (self, shares_05.Share position_signal, shares_05.Share deriv_signal, shares_05.Share target_pos, shares_05.Share target_deriv, float prop_gain, float deriv_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...
def	set_Kd (self, new_Kd)
	Sets the Kd 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_05.ClosedLoop_05.__init__	(		self,
		shares_05.Share	position_signal,
		shares_05.Share	deriv_signal,
		shares_05.Share	target_pos,
		shares_05.Share	target_deriv,
		float	prop_gain,
		float	deriv_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

position_signal	Share object containing the position input signal to the controller.
deriv_signal	Share object containing the input derivative signal for the controller.
target_pos	Share object containing the desired reference value for the controller position.
target_deriv	Share object containing the desired reference value for controller velocity.
prop_gain	Float value for the Kp for the controller.
deriv_gain	Float value for the Kd 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_Kd()

def closedloop_05.ClosedLoop_05.set_Kd	(		self,
			new_Kd
	)

Sets the Kd to a new value.

Replaces the existing Kd with a new value.

Parameters

new_Kd

The new value of Kd (derivative gain) to be set.

set_Kp()

def closedloop_05.ClosedLoop_05.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_05.ClosedLoop_05.update

(

self

)

Returns an output signal based on the initialized share variables.

Multiplies the error signal by the proportional gain and adds the velocity/derivitive error signal 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/Lab0x05/closedloop_05.py