controller.Ctrl Class Reference

Public Member Functions
def	__init__ (self, k1, k2, k3, k4)
	Initializes the Controller based on calculated gain values. More...
def	DutyCycle (self, pos, ang, vel, ang_vel)
	Determines the correct duty cycle for the motor to follow the system model. More...

Public Attributes
	k1
	k2
	k3
	k4

Constructor & Destructor Documentation

__init__()

def controller.Ctrl.__init__	(		self,
			k1,
			k2,
			k3,
			k4
	)

Initializes the Controller based on calculated gain values.

Parameters

k1,k2,k3,k4

The constants calculated for the system model

Returns

Returns nothing.

Member Function Documentation

DutyCycle()

def controller.Ctrl.DutyCycle	(		self,
			pos,
			ang,
			vel,
			ang_vel
	)

Determines the correct duty cycle for the motor to follow the system model.

Parameters

pos	The position of the ball according to the touch panel measurement
ang	The angle of the ball according to the encoder measurement
vel	The velocity / change in position of the ball
ang_vel	The angular velocity / change in angle of the ball

Returns

Returns the calculated Duty Cycle for the appropriate Torque.

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

• controller.py