closedLoopControl.ClosedLoop Class Reference

A closed loop feedback object that calculates error in velocity. More...

Public Member Functions
def	__init__ (self, controlParameters, delta)
	Initializes and returns a closed loop object. More...
def	update (self, controlParameters, delta)
	Updates the feedback error found by the closed loop control. More...
def	setGain (self)
	A currently unused function that would set the gain value for the proportional control. More...

Public Attributes
	actualVel
	propGain
	motorDuty

Detailed Description

A closed loop feedback object that calculates error in velocity.

Objects of this class can find the error in the current velocity when compared to an arbitrary desired velocity when paired with a proportional gain coefficient.

Constructor & Destructor Documentation

__init__()

def closedLoopControl.ClosedLoop.__init__	(		self,
			controlParameters,
			delta
	)

Initializes and returns a closed loop object.

Parameters

controlParameters	A shared variable that contains the reference velocity and proportional gain
delta	A shared variable that contains the change in position of the motor, updated every 10ms

Member Function Documentation

setGain()

def closedLoopControl.ClosedLoop.setGain

(

self

)

A currently unused function that would set the gain value for the proportional control.

Instead of using this function, we found it easier to use a shared variable that contains the gain as the gain is reference in the user Task which never instantiates a closed loop object

update()

def closedLoopControl.ClosedLoop.update	(		self,
			controlParameters,
			delta
	)

Updates the feedback error found by the closed loop control.

Parameters

controlParameters	A shared variable that contains the reference velocity and proportional gain
delta	A shared variable that contains the change in position of the motor, updated every 10ms

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

• closedLoopControl.py