taskMotorController.py File Reference

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

Functions
def	taskMotorController.taskMotorControllerFcn (str taskName, int period, shares.Share euler_angles, shares.Share angular_velocities, shares.Share roll_target_pos, shares.Share roll_target_deriv, shares.Share pitch_target_pos, shares.Share pitch_target_deriv, shares.Share prop_gain_roll, shares.Share deriv_gain_roll, shares.Share int_gain_roll, shares.Share cont_enable, shares.Share roll_target_duty, shares.Share pitch_target_duty, shares.Share prop_gain_pitch, shares.Share deriv_gain_pitch, shares.Share int_gain_pitch)
	Sets up and calls the closed loop controller class. More...

Detailed Description

Sets up and calls the closed loop controller class for the inner loop.

Configures a PID controller object and continuously updates the controller output value and assigns to the proper motor duty cycle. In this case, the derivative of position for derivative control is drawn directly from the gyroscope data. This is more accurate than a numerical derivative.

Author

Caleb Savard

Chris Linthacum

Date

March 18, 2022

Function Documentation

taskMotorControllerFcn()

def taskMotorController.taskMotorControllerFcn	(	str	taskName,
		int	period,
		shares.Share	euler_angles,
		shares.Share	angular_velocities,
		shares.Share	roll_target_pos,
		shares.Share	roll_target_deriv,
		shares.Share	pitch_target_pos,
		shares.Share	pitch_target_deriv,
		shares.Share	prop_gain_roll,
		shares.Share	deriv_gain_roll,
		shares.Share	int_gain_roll,
		shares.Share	cont_enable,
		shares.Share	roll_target_duty,
		shares.Share	pitch_target_duty,
		shares.Share	prop_gain_pitch,
		shares.Share	deriv_gain_pitch,
		shares.Share	int_gain_pitch
	)

Sets up and calls the closed loop controller class.

Every period, this task resets the gains using set_Kx() 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
euler_angles	Shared variable to store the euler angles being recorded by the IMU.
angular_velocities	Shared variable to store angular velocities being recorded by the IMU.
roll_target_pos	Shared variable to store the roll target position output from the angle controller.
roll_target_deriv	Shared variable to store the roll target velocity output from the angle controller (0).
pitch_target_pos	Shared variable to store the pitch target position output from the angle controller.
pitch_target_deriv	Shared variable to store the pitch target velocity output from the angle controller (0).
prop_gain_roll	Shared variable for the roll controller proportional gain
deriv_gain_roll	Shared variable for the roll controller derivative gain.
int_gain_roll	Shared variable for the roll controller integral gain.
cont_enable	Shared variable for whether or not the controller is enabled.
roll_target_duty	Shared variable for the roll motor target duty cycle.
pitch_target_duty	Shared variable for the pitch motor target duty cycle.
prop_gain_pitch	Shared variable for the pitch controller proportional gain.
deriv_gain_pitch	Shared variable for the pitch controller derivative gain.
int_gain_pitch	Shared variable for the pitch controller integral gain.