def fingerControl(self, finger, motorDir):

        # TODO - TODO - While needs an output condition?
        logging.info("IOUTILS::fingerControl")
        """ With these three lines of code, the control of a single motor is achieved.
		First the feedback value of the controller is obtained from a specific channel
		of the ADC IC. Then, the control signal is computed with a PID. Finally, the
		control signal is applied to the motor as a PWM signal generated by the PWM IC.
		"""
        # Initialize PID
        pid = PID(PID_KP, PID_KI, PID_KD)

        pid.setWindup = MOTOR_CTRL_MAX
        pid.setSampleTime = 0.2
        pid.SetPoint = 800

        # Initialize buses
        # Re-init will be necessary?
        # self.adc = MCP3008.MCP3008(clk=CLK, cs=CS, miso=MISO, mosi=MOSI)

        # Initialize PWM
        # Re-init will be necessary?
        #self.pwm = PCA9685.PCA9685(PCA_I2C_ADDR)
        #self.pwm.set_pwm_freq(PWM_FRQUENCY)

        logging.debug("IOUTILS::fingerControl - Reading from ADC Channel [%i]",
                      FINGER_CHANNELS_MATRIX[ADC][finger])

        while True:
            feedback = self.getPotentiometerValue(finger)
            pid.update(feedback)
            duty_cycle = int(pid.output)
            self.motor_control(duty_cycle, finger, motorDir)
Beispiel #2
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    }

    sim = Simulator()
    tank1 = Tank('Tank1')

    sim.add(tank1)

    tank1.set_values(tank1_values)

    return sim


pid_t = PID(P=40.0, I=1.0, D=0.5)
pid_t.set_sample_time(10)
pid_t.set_windup(50.0)
pid_t.SetPoint = 30.0

pid_s = PID(P=0.8, I=0.05, D=0.1)
pid_s.set_sample_time(5)
pid_t.set_windup(20)
pid_s.SetPoint = 1.0


def get_settings(ts, values):
    pid_t.update(values['Tank1_o_t'], ts)
    pid_s.update(values['Tank1_o_s'] / 10.0, ts)

    i = pid_t.output
    if i > 80:
        i = 80
    if i < 0: