Lab0x04_closedLoop.ClosedLoop Class Reference

A closed-loop control driver. More...

Public Member Functions
def	__init__ (self, K_p, setpoint, speedDATA)
	Initializes and returns a closed-loop controller object. More...
def	run (self, K_p, setpoint, speedDATA)

Public Attributes
	Omega_meas
	Omega_meas is the local interpretation of the speedDATA parameter within an object. More...
	Omega_ref
	Omega_ref is the local interpretation of the setpoint parameter within an object. More...
	Gain
	Gain is the local interpretation of the K_p parameter within an object. More...
	L
	L is the calculated duty cycle output of the controller. More...

Detailed Description

A closed-loop control driver.

Objects of this class can be used to take in input parameters representing the measured and reference values and return the actuation signal after computing the controller output.

Constructor & Destructor Documentation

__init__()

def Lab0x04_closedLoop.ClosedLoop.__init__	(		self,
			K_p,
			setpoint,
			speedDATA
	)

Initializes and returns a closed-loop controller object.

Upon calling closedLoop.ClosedLoop, instantiates a closed-loop controller object.

Parameters

K_p	The closed-loop controller gain
setpoint	The desired speed of the closed loop controller in [rad/s]
speedDATA	shares.Share variable representing the measured speed of an encoder object.

Member Data Documentation

Gain

Lab0x04_closedLoop.ClosedLoop.Gain

Gain is the local interpretation of the K_p parameter within an object.

Gain represents the closed-loop controller gain associated with a ClosedLoop object

L

Lab0x04_closedLoop.ClosedLoop.L

L is the calculated duty cycle output of the controller.

L represents the duty cycle computed by the closed loop control algorithm to be passed into the taskMotor.py task for manipulation of the motor speed when the program is in closed-loop control mode.

Omega_meas

Lab0x04_closedLoop.ClosedLoop.Omega_meas

Omega_meas is the local interpretation of the speedDATA parameter within an object.

Omega_meas represents the closed-loop controller speedDATA associated with a ClosedLoop object

Omega_ref

Lab0x04_closedLoop.ClosedLoop.Omega_ref

Omega_ref is the local interpretation of the setpoint parameter within an object.

Omega_ref represents the closed-loop controller setpoint associated with a ClosedLoop object

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

• Lab 0x04/Lab0x04_closedLoop.py