本文整理汇总了Python中pid.PID.calculate方法的典型用法代码示例。如果您正苦于以下问题：Python PID.calculate方法的具体用法？Python PID.calculate怎么用？Python PID.calculate使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类pid.PID的用法示例。
在下文中一共展示了PID.calculate方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: controller
# 需要导入模块: from pid import PID [as 别名]
# 或者: from pid.PID import calculate [as 别名]
class controller(threading.Thread):
# Instantiate the motor controller
def __init__(self, pwm_name, dir_a, dir_b, eqep):
# Initialize the thread base
super(controller, self).__init__()
# Create stop event object
self.stop_event = threading.Event()
self.stop_confirm = threading.Event()
# Store parameters
self.pwm = pwm_name
self.dir_a = dir_a
self.dir_b = dir_b
# Create a PID controller
self.pid = PID(0.01, 0.01, 0.0, -100.0, 100.0, 0.0)
# Load the eQEP interface
self.eqep = eQEP(eqep, eQEP.MODE_RELATIVE)
self.eqep.set_period(10000000)
# Setup the GPIO
gpio.setup(self.dir_a, gpio.OUT)
gpio.setup(self.dir_b, gpio.OUT)
gpio.output(self.dir_a, gpio.LOW)
gpio.output(self.dir_b, gpio.LOW)
# Setup the PWM
pwm.start(self.pwm, 100.0)
# Process of the running thing
def run(self):
while (self.stop_event.is_set() == False):
current = float(self.eqep.poll_position())
output = self.pid.calculate(current)
# Calculate the output duty cycle
duty = 100.0 - abs(output)
# Setup the IO lines correctly
if(output > 0.0):
gpio.output(self.dir_a, gpio.HIGH)
gpio.output(self.dir_b, gpio.LOW)
else:
gpio.output(self.dir_a, gpio.LOW)
gpio.output(self.dir_b, gpio.HIGH)
# Set the pwm
pwm.set_duty_cycle(self.pwm, duty)
# Log
#print "Current = " + str(current) + "; Output = " + str(output)
# Confirm stop
self.stop_confirm.set()
# Stop the motor
def stop(self):
self.stop_event.set()
self.stop_confirm.wait()
self.stop_event.clear()
self.stop_confirm.clear()
gpio.output(self.dir_a, gpio.LOW)
gpio.output(self.dir_b, gpio.LOW)
pwm.set_duty_cycle(self.pwm, 100.0)