simple_pendulum.controllers

`Controllers`

Subpackages

Submodules

simple_pendulum.controllers.abstract_controller

Abstract Controller

Abstract controller class to which all controller classes have to adhere.

class simple_pendulum.controllers.abstract_controller.AbstractController

Bases: ABC

Abstract controller class. All controller should inherit from this abstract class.

abstract get_control_output(meas_pos, meas_vel, meas_tau, meas_time)

The function to compute the control input for the pendulum actuator. Supposed to be overwritten by actual controllers. The API of this method should be adapted. Unused inputs/outputs can be set to None.

Parameters:

meas_pos: float: The position of the pendulum [rad]
meas_vel: float: The velocity of the pendulum [rad/s]
meas_tau: float: The meastured torque of the pendulum [Nm]
meas_time: float: The collapsed time [s]

Returns:

des_pos: float: The desired position of the pendulum [rad]
des_vel: float: The desired velocity of the pendulum [rad/s]
des_tau: float: The torque supposed to be applied by the actuator [Nm]

init(x0)

Initialize the controller. May not be necessary.

Parameters:

``x0``: ``array like``: The start state of the pendulum

set_goal(x)

Set the desired state for the controller. May not be necessary.

Parameters:

``x``: ``array like``: The desired goal state of the controller

simple_pendulum.controllers.combined_controller

class simple_pendulum.controllers.combined_controller.CombinedController(controller1, controller2, condition1, condition2, compute_both=False)

Bases: AbstractController

Controller to combine two controllers and switch between them on conditions

Parameters:

controller1Controller object: First Controller
controller2Controller object: Second Controller
condition1function of (meas_pos, meas_vel, meas_tau, meas_time): condition to switch to controller 1 must be a functin of the state x and the time t
condition2function of (meas_pos, meas_vel, meas_tau, meas_time): condition to switch to controller 2 must be a functin of the state x and the time t
compute_bothbool: Flag whether to compute the control output for both controllers at each timestep or only for the active one

get_control_output(meas_pos, meas_vel, meas_tau, meas_time)

The function to compute the control input for the pendulum actuator. Supposed to be overwritten by actual controllers. The API of this method should be adapted. Unused inputs/outputs can be set to None.

Parameters:

meas_pos: float: The position of the pendulum [rad]
meas_vel: float: The velocity of the pendulum [rad/s]
meas_tau: float: The meastured torque of the pendulum [Nm]
meas_time: float: The collapsed time [s]

Returns:

des_pos: float: The desired position of the pendulum [rad]
des_vel: float: The desired velocity of the pendulum [rad/s]
des_tau: float: The torque supposed to be applied by the actuator [Nm]

init(x0): initialize both controllers

set_goal(x)

Set the desired state for the controllers.

Parameters:

xarray like: the desired goal state of the controllers

simple_pendulum.controllers.motor_control_loop

simple_pendulum.controllers.motor_control_loop.ak80_6(controller, kp=0.0, kd=0.0, torque_limit=1.0, dt=0.005, tf=10.0, motor_id=1, motor_type='AK80_6_V2', can_port='can0')

Parameters:

controllercontroller object inheriting from the abstract controller class: Calls the controller, which executes the respective control policy and returns the input torques
kpfloat, default=0.0: Weight for position control
kdfloat, default=0.0: Weight for velocity control
torque_limitfloat default=1.0: torque limit for the motor [Nm]
dtfloat, default=0.005: time step in control loop [s]
tffloat, default=10.0: length of the experiment [s]
motor_idint, default=1: id of the used motor
motor_typestring, default=’AK80_6_V1p1’: type of the motor
can_portstring, default=’can0’: can port for motor communication

Returns:

data_dictdict: dictionary containing the recorded data