def __init__(self, gains): PID.__init__(self, gains, derivator=0, integrator=0, integrator_max=500, integrator_min=-500)
def __init__(self): PID.__init__(self) self.Wangle = 0 self.velocity = 0 self.Lerror = 0 self.error = 0 self.integral = 0
def __init__(self, P=2.0, I=0.0, D=1.0, Derivator=0, Integrator=0, \ Integrator_max=500, Integrator_min=-500, set_point=10): print "in pid44: ", P,I,D self.current=[0, 0, 0, 0, 0] self.data_number=0 PID.__init__(self, P, I, D, Derivator=0, Integrator=0, \ Integrator_max=500, Integrator_min=-500) PID.setPoint(self, set_point)
def __init__(self, P=2.0, I=0.0, D=1.0, Derivator=0, Integrator=0, \ Integrator_max=500, Integrator_min=-500, set_point=10): ''' initial ''' print "in pid_1: input parameters ", P,I,D,set_point, "to init PID" self.count=0 PID.__init__(self, P, I, D, Derivator, Integrator, \ Integrator_max, Integrator_min) PID.setPoint(self, set_point)
def __init__(self): PID.__init__(self) self.setKp(0.05) self.setKi(0.003) self.setKd(0.00075) self.setPoint(0) self.theta = 0 self.thetaA = 0 self.thetaG = 0 self.lwEffort = 0 self.rwEffort = 0 self.Effort = 0 self.yawEffort = 0 self.lwEffortPublisher = rospy.Publisher('selbie/selbie_lj_effort_controller/command', Float64, queue_size=10) self.rwEffortPublisher = rospy.Publisher('selbie/selbie_rj_effort_controller/command', Float64, queue_size=10)
def __init__(self): PID.__init__(self) invpen.__init__(self) self.handles() self.setKp(4) #self.setKp(1.75) #Always do PID tuning by ziegler nicols method 38.2 because it works self.setKi(0) #self.setKi(0.16) self.setKd(0) #self.setKd(0.048) self.setPoint(0) self.theta = 0 self.thetaA = 0 self.thetaG = 0 self.velocity = 0 self.lwVelocity = 0 self.rwVelocity = 0 self.yawVelocity = 0 self.getSensorReadings() self.enableSubscibers() self.velocityPublisherJ1 = rospy.Publisher('vrep/targetVelocityJ1', Float64, queue_size=10) self.velocityPublisherJ2 = rospy.Publisher('vrep/targetVelocityJ2', Float64, queue_size=10)
def __init__(self): PID.__init__(self) self.velocity = 0 self.desired_velocity = 0