taskAngleController.py File Reference

Sets up and calls the closed loop controller class. More...

Functions
def	taskAngleController.taskAngleControllerFcn (str taskName, int period, shares.Share roll_target_pos, shares.Share pitch_target_pos, shares.Share x_position_signal, shares.Share x_pos_deriv_signal, shares.Share x_target_position, shares.Share x_pos_deriv_target, shares.Share y_position_signal, shares.Share y_pos_deriv_signal, shares.Share y_target_position, shares.Share y_pos_deriv_target, shares.Share positionx_prop_gain, shares.Share positionx_deriv_gain, shares.Share positionx_int_gain, shares.Share cont_enable, shares.Share ball_detected, PrintQueue print_queue, shares.Share positiony_prop_gain, shares.Share positiony_deriv_gain, shares.Share positiony_int_gain, shares.Share controller_signalsx, shares.Share controller_signalsy)
	Sets up and calls the closed loop controller class. More...

Detailed Description

Sets up and calls the closed loop controller class.

Configures a PID controller object and continuously updates the controller output value which represents the desired angle of the platform. This functions as the outer loop of the control system.

Author

Caleb Savard

Chris Linthacum

Date

March 18, 2022

Function Documentation

taskAngleControllerFcn()

def taskAngleController.taskAngleControllerFcn	(	str	taskName,
		int	period,
		shares.Share	roll_target_pos,
		shares.Share	pitch_target_pos,
		shares.Share	x_position_signal,
		shares.Share	x_pos_deriv_signal,
		shares.Share	x_target_position,
		shares.Share	x_pos_deriv_target,
		shares.Share	y_position_signal,
		shares.Share	y_pos_deriv_signal,
		shares.Share	y_target_position,
		shares.Share	y_pos_deriv_target,
		shares.Share	positionx_prop_gain,
		shares.Share	positionx_deriv_gain,
		shares.Share	positionx_int_gain,
		shares.Share	cont_enable,
		shares.Share	ball_detected,
		PrintQueue	print_queue,
		shares.Share	positiony_prop_gain,
		shares.Share	positiony_deriv_gain,
		shares.Share	positiony_int_gain,
		shares.Share	controller_signalsx,
		shares.Share	controller_signalsy
	)

Sets up and calls the closed loop controller class.

Every period, this task resets the Kp using set_Kp and updates the controller. Saturation limits are set to 100 and -100.

Parameters

taskName	Task name label for debugging purposes.
period	Period to run taskControllerFcn
roll_target_pos	Shared variable to pass out the desired platform roll angle.
pitch_target_pos	Shared variable to pass out the desired platform pitch angle.
x_position_signal	Shared variable to pass in the current X position of the ball.
x_pos_deriv_signal	Shared variable to pass in the current X velocity of the ball.
x_target_position	Shared variable to pass in the desired X position of the ball.
x_pos_deriv_target	Shared variable to pass in the desired X velocity of the ball.
y_position_signal	Shared variable to pass in the current Y position of the ball.
y_pos_deriv_signal	Shared variable to pass in the current Y velocity of the ball.
y_target_position	Shared variable to pass in the desired Y position of the ball.
y_pos_deriv_target	Shared variable to pass in the desired Y velocity of the ball.
positionx_prop_gain	Shared variable to pass in Kp for the X direction.
positionx_deriv_gain	Shared variable to pass in Kd for the X direction.
positionx_int_gain	Shared variable to pass in Ki for the X direction.
cont_enable	Shared variable to store a boolean whether to enable or disable the controller.
ball_detected	Shared variable to store a boolean to indicate if the ball is on the platform.
print_queue	Print queue object for handling print statements.
positiony_prop_gain	Shared variable to pass in Kp for the Y direction.
positiony_deriv_gain	Shared variable to pass in Kd for the Y direction.
positiony_int_gain	Shared variable to pass in Ki for the Y direction.
controller_signalsx	Shared variable to pass in the X controller gains as a single object.
controller_signalsy	Shared variable to pass in the Y controller gains as a single object.