speed_controller – helper class to motion_controller
Simple speed controller.
The speed_controller module contains the
SpeedController was made into a class for two reasons:
1) So it would be easier to have more than one SpeedController, each with their own tuning parameter(s).
2) The current controller is the simplest there is, and there are a lot of fancier (more tweakable) controllers that we might create in the future. By wrapping this code up in a class now, it will be easier to swap in fancier controllers (PI, PD, PID) in the future.
- class speed_controller.SpeedController(kP)
A minimal speed controller that implements Proportional control.
When you create one of these, you provide it a constant of proportionality. For example, 0.5 would correspond to 50%.
- compute_power(target_speed, measured_speed, motor_power, min_motor_power, max_motor_power)
Based on desired versus actual motor speed, compute a new power level that should help.
a power level as good or better than the one you had before.
- Return type