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)
}
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:
