Package baxter_control :: Module pid :: Class PID

Class PID

object --+
         |
        PID

PID control class

This class implements a simplistic PID control algorithm. When first instantiated all the gain variables are set to zero, so calling the method compute_output will just return zero.

Instance Methods

[hide private]

__init__(self, kp=0.0, ki=0.0, kd=0.0)
x.__init__(...) initializes x; see help(type(x)) for signature

source code

initialize(self)
Initialize pid controller.

source code

set_kp(self, invar)
Set proportional gain.

source code

set_ki(self, invar)
Set integral gain.

source code

set_kd(self, invar)
Set derivative gain.

source code

compute_output(self, error)
Performs a PID computation and returns a control value based on the elapsed time (dt) and the error signal from a summing junction (the error parameter).

source code

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Properties

[hide private]

Inherited from object: __class__

Method Details

[hide private]

init(self, kp=0.0, ki=0.0, kd=0.0)
(Constructor)

source code

x.__init__(...) initializes x; see help(type(x)) for signature

Overrides: object.__init__: (inherited documentation)

Class PID

__init__(self, kp=0.0, ki=0.0, kd=0.0) (Constructor)

init(self, kp=0.0, ki=0.0, kd=0.0)
(Constructor)