controller_agena_chiu.ControllerDriver Class Reference

This class implements a controller driver for a motor and flywheel rig. More...

Public Member Functions
def	__init__ (self, K_p, i_set)
	Creates a controller driver by initializing the gain and initial setpoint used in closed-loop control. More...
def	run (self, pos, max_duty)
	Called repeatedly to run the control algorithm. More...
def	flag (self)
	Sets returns a true statement if the error lands within the specified bounds to stop the controller and move to the next value. More...
def	set_setpoint (self, setpoint)
	Sets the setpoint. More...
def	set_gain (self, gain)
	Sets the proportional gain. More...

Public Attributes
	K_p
	Proportional Gain.
	i_set
	Initial setpoint.
	error
	Error, difference between the current position and initial setpoint.

Detailed Description

This class implements a controller driver for a motor and flywheel rig.

Constructor & Destructor Documentation

__init__()

def controller_agena_chiu.ControllerDriver.__init__	(		self,
			K_p,
			i_set
	)

Creates a controller driver by initializing the gain and initial setpoint used in closed-loop control.

Parameters

K_p	The initial proportional gain for the controller.
i_set	The initial setpoint for the controller.

Member Function Documentation

flag()

def controller_agena_chiu.ControllerDriver.flag

(

self

)

Sets returns a true statement if the error lands within the specified bounds to stop the controller and move to the next value.

Returns

flag returns a true statement if error is within the bounds.

run()

def controller_agena_chiu.ControllerDriver.run	(		self,
			pos,
			max_duty
	)

Called repeatedly to run the control algorithm.

Parameters

pos	Current position of the encoder.

Returns

duty Duty cycle to set the motor.

set_gain()

def controller_agena_chiu.ControllerDriver.set_gain	(		self,
			gain
	)

Sets the proportional gain.

Parameters

gain	The new proportional gain used for the controller.

set_setpoint()

def controller_agena_chiu.ControllerDriver.set_setpoint	(		self,
			setpoint
	)

Sets the setpoint.

Parameters

setpoint

The new setpoint used for the controller.

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

• src/controller_agena_chiu.py