taskController_05.py File Reference

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

Functions
def	taskController_05.taskControllerFcn_05 (str taskName, int period, shares_05.Share_05 euler_angles, shares_05.Share_05 angular_velocities, shares_05.Share_05 roll_target_pos, shares_05.Share_05 roll_target_deriv, shares_05.Share_05 pitch_target_pos, shares_05.Share_05 pitch_target_deriv, shares_05.Share_05 prop_gain, shares_05.Share_05 deriv_gain, shares_05.Share_05 cont_enable, shares_05.Share_05 roll_target_duty, shares_05.Share_05 pitch_target_duty)
	Sets up and calls the closed loop controller class. More...

Detailed Description

Sets up and calls the closed loop controller class.

Configures a proportional controller object and continuously updates the controller output value and assigns to the proper motor duty cycle.

Author

Caleb Savard

Chris Linthacum

Date

February 17, 2022

Function Documentation

taskControllerFcn_05()

def taskController_05.taskControllerFcn_05	(	str	taskName,
		int	period,
		shares_05.Share_05	euler_angles,
		shares_05.Share_05	angular_velocities,
		shares_05.Share_05	roll_target_pos,
		shares_05.Share_05	roll_target_deriv,
		shares_05.Share_05	pitch_target_pos,
		shares_05.Share_05	pitch_target_deriv,
		shares_05.Share_05	prop_gain,
		shares_05.Share_05	deriv_gain,
		shares_05.Share_05	cont_enable,
		shares_05.Share_05	roll_target_duty,
		shares_05.Share_05	pitch_target_duty
	)

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
input_signal	Shared variable to store controller input signal. In this case the actual encoder velocity.
target_val	Shared variable to store the target value for encoder velocity.
prop_gain	Shared variable to store the controller proportional gain value.
cont_enable	Shared variable to store a boolean whether to enable or disable the controller.
target_duty	Shared variable to point to the duty cycle to be affected by the controller.