src.controller.PIController Class Reference

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

Public Member Functions
	__init__ (self, Kp, Ki, setPoint)
	This function initializes the proportional and integral gain constants and desired setpoint.
	run (self, actualVal)
	This function handles 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 proportional gain.
	set_Ki (self, Ki)
	This function sets the intergral gain.

Public Attributes
	Kp
	Ki
	setPoint
	totalE

Detailed Description

The class initializes a proportional gain constant, Kp, an integral gain Ki 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 and integral gain is applied. Rapidly and repeatedly calling run() enables one to create a closed loop proportional controller.

Constructor & Destructor Documentation

__init__()

src.controller.PIController.__init__	(		self,
			Kp,
			Ki,
			setPoint )

This function initializes the proportional and integral gain constants and desired setpoint.

Parameters

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

Member Function Documentation

run()

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

This function handles 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. The total error is integrated by summing it, and then Ki is applied to obtain integral control. Together, this creates a PI controller.

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_Ki()

src.controller.PIController.set_Ki	(		self,
			Ki )

This function sets the intergral gain.

Parameters

Ki	The new integral gain value.

set_Kp()

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

This function sets the proportional gain.

Parameters

Kp	The new proportional gain value.

set_setpoint()

src.controller.PIController.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