controlloop.ClosedLoop Class Reference

Closed Loop Control System. More...

Public Member Functions
def	__init__ (self, Kp, Ki, Kd, ref)
	takes in gain value and setpoint More...
def	run (self, pos, ref)
	runs the proportional control loop More...
def	set_ref (self, ref)
	sets reference point More...
def	set_Kp (self, Kp)
	sets proportional gain value More...
def	add_data (self)
	makes list of position and time More...

Public Attributes
	Kp
	Ki
	Kd
	ref
	listpos
	time
	start_time
	enc1
	old_pos
	old_time
	error
	i
	integral
	deriv
	pos
	new_time
	new_pos
	time_diff
	current_time

Detailed Description

Closed Loop Control System.

This class contains useful functions we need for the controller to be effective at getting to the motor setpoint.

Constructor & Destructor Documentation

__init__()

def controlloop.ClosedLoop.__init__	(		self,
			Kp,
			Ki,
			Kd,
			ref
	)

takes in gain value and setpoint

This instantiates necessary objects to capture controller's values.

Parameters

Kp	gain value
ref	reference point

Member Function Documentation

add_data()

def controlloop.ClosedLoop.add_data

(

self

)

makes list of position and time

Time is gathered as column 1 while column 2 is encoder position. Plotting these two together gives a nice step response.

run()

def controlloop.ClosedLoop.run	(		self,
			pos,
			ref
	)

runs the proportional control loop

Only acting as a P-controller, this function multiplies our gain by the difference between the reference point and the current position.

Parameters

pos	current position

set_Kp()

def controlloop.ClosedLoop.set_Kp	(		self,
			Kp
	)

sets proportional gain value

Parameters

Kp	gain value

set_ref()

def controlloop.ClosedLoop.set_ref	(		self,
			ref
	)

sets reference point

Parameters

ref

set point

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

• controlloop.py