hrl_generic_arms.controllers.PIDController Class Reference

Classic PID controller with maximum integral thresholding to prevent windup. More...

List of all members.

Public Member Functions
def	__init__
def	reset_controller
def	update_state
	Updates the controller state and returns the current output.
Public Attributes
	diag_pub
	err_last
	err_pub
	feed_forward
	i_max
	integral
	k_d
	k_i
	k_p
	name
	out_pub
	rate
	saturation
	y

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Detailed Description

Classic PID controller with maximum integral thresholding to prevent windup.

Definition at line 10 of file controllers.py.

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Constructor & Destructor Documentation

def hrl_generic_arms.controllers.PIDController.__init__	(		self,
			rate = 100.,
			k_p = 0.,
			k_i = 0.,
			k_d = 0.,
			i_max = None,
			feed_forward = 0.,
			init_integ = 0.,
			saturation = None,
			name = None
	)

Definition at line 11 of file controllers.py.

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Member Function Documentation

def hrl_generic_arms.controllers.PIDController.reset_controller

(

self

)

Definition at line 56 of file controllers.py.

def hrl_generic_arms.controllers.PIDController.update_state	(		self,
			err
	)

Updates the controller state and returns the current output.

Definition at line 31 of file controllers.py.

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Member Data Documentation

hrl_generic_arms::controllers.PIDController::diag_pub

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::err_last

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::err_pub

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::feed_forward

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::i_max

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::integral

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::k_d

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::k_i

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::k_p

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::name

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::out_pub

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::rate

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::saturation

Definition at line 11 of file controllers.py.

hrl_generic_arms::controllers.PIDController::y

Definition at line 11 of file controllers.py.

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

• controllers.py