controller.py File Reference

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Classes
class	controller.Controller
	This file contains a class to create a PID Controller object. More...

Namespaces
namespace	controller

Functions
	controller.change_Ref (self, reference)
	change_Ref changes the set point of the controller.
	controller.get_Ref (self)
	get_Ref returns the current set point of the controller.
	controller.get_Error (self)
	get_Error returns the current Riemann Sum integral of the errors of the controller.
	controller.proportional_Control (self, measure)
	proportional_Control returns a saturated effort value based on the error of the system from the set point using proportional control only.
	controller.pi_Control (self, measure, dt)
	pi_Control returns a saturated effort value based on the error of the system from the set point using proportional and integral control only.
	controller.error_sat (self, err)
	error_sat is a function which returns the saturated integral of the error based on this instance of the controller saturation value.
	controller.effort_sat (self, eff)
	effort_sat is a function which returns the saturated effort of the controller based on this instance of the controllers saturation value.
	controller.change_Gains (self, k_p, k_i, k_d)
	change_Gains changes this instance's gain values.

Variables
	controller.reference = reference
	controller.summed_errors = self.error_sat(self.summed_errors)
	controller.K_p = k_p
	controller.K_i = k_i
	controller.K_d = k_d