controlloop.py File Reference

sets up closed loop motor control More...

Classes
class	controlloop.ClosedLoop
	Closed Loop Control System. More...

Variables
	controlloop.ENB = pyb.Pin (pyb.Pin.board.PC1, pyb.Pin.OUT_PP)
	controlloop.IN3 = pyb.Pin (pyb.Pin.board.PA0, pyb.Pin.OUT_PP)
	controlloop.IN4 = pyb.Pin (pyb.Pin.board.PA1, pyb.Pin.OUT_PP)
	controlloop.tim5 = pyb.Timer (5, freq=20000)
	controlloop.mot2 = motor_drv.MotorDriver(ENB, IN3, IN4, tim5)
	controlloop.enc2 = EncoderReader.EncoderReader(2)
	controlloop.controller2 = ClosedLoop(.1, 0.00005, 0.75, 0)
int	controlloop.setpoint = 100
	controlloop.PWM = controller2.run(enc2.read(), setpoint)

Detailed Description

sets up closed loop motor control

After setpoint and K_p gain values are set by user, the controller continuously checks the encoder values to minimize the setpoint error. However, there is always a steady state error due to there being no integrator in the control loop.

Author

Jeremy Baechler

Kendall Chappell

Matthew Wimberley

Date

31-Jan-2022