Control Class Reference

Class for implementing Mechatronic Zen Garden control system. More...

#include <Control.h>

Public Member Functions
	Control (float vel_gain, float pos_gain)
	Instantiates control system object. More...
void	run (float pos_ref, float pos, float vel_ref, float vel)
	Computes PWM based on positional error and velocity error. More...

Public Attributes
float	Kd = 1.003
	Derivative gain.
float	Kp = 0.0203
	Proportional gain.
float	PWM_vel
	velocity error contribution to PWM
float	PWM_pos
	position error contribution to PWM
float	PWM
	PWM sent to motors.

Detailed Description

Class for implementing Mechatronic Zen Garden control system.

Constructor & Destructor Documentation

Control()

Control::Control	(	float	vel_gain,
		float	pos_gain
	)

Instantiates control system object.

Parameters

vel_gain	positional derivative gain, or velocity gain
pos_gain	positional proportional gain, or positional gain

Member Function Documentation

run()

void Control::run	(	float	pos_ref,
		float	pos,
		float	vel_ref,
		float	vel
	)

Computes PWM based on positional error and velocity error.

This controller makes use of positional PD control. It also tries to correct for the deadzone observed in the system due to stiction. The PWM values saturate at +/- 100%.

Parameters

pos_ref	reference posiotional value
pos	postional reading value
vel_ref	reference velocity value
vel	velocity reading value

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

• src/Control.h
• src/Control.cpp