src.controller.PController Class Reference

The class initializes a proportional gain constant, Kp, and a desired setpoint for a system. More...

Public Member Functions
	__init__ (self, Kp, setPoint)
	This function initializes the proportional gain constant and desired setpoint.
	run (self, actualVal)
	This function handles proportional control by comparing the current system value to the desired set point, and then computing the error.
	set_setpoint (self, setPt)
	This function sets the desired setpoint.
	set_Kp (self, Kp)
	This function sets the user input gain.

Public Attributes
	Kp
	setPoint

Detailed Description

The class initializes a proportional gain constant, Kp, and a desired setpoint for a system.

When feedback is applied through the run() method, the error in the system is calculated, and the proportional gain is applied. Rapidly and repeatedly calling run() enables one to create a closed loop proportional controller.

Constructor & Destructor Documentation

__init__()

src.controller.PController.__init__	(		self,
			Kp,
			setPoint )

This function initializes the proportional gain constant and desired setpoint.

Parameters

Kp	User specified proportional gain constant.
setPoint	Desired setpoint for the system to be driven to.

Member Function Documentation

run()

src.controller.PController.run	(		self,
			actualVal )

This function handles proportional control by comparing the current system value to the desired set point, and then computing the error.

The error is then multiplied by the gain Kp to obtain proportional control.

Parameters

actualVal

The measured current value of the system.

Returns

The output to be sent to the system driver as a float. (For a motor system, this is the PWM duty cycle percentage to be sent to the motor)

set_Kp()

src.controller.PController.set_Kp	(		self,
			Kp )

This function sets the user input gain.

Parameters

Kp	The new proportional gain value.

set_setpoint()

src.controller.PController.set_setpoint	(		self,
			setPt )

This function sets the desired setpoint.

Parameters

setPt

The new desired setpoint of the system.

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

• src/controller.py