本文整理汇总了Python中pid.PID.constraint方法的典型用法代码示例。如果您正苦于以下问题：Python PID.constraint方法的具体用法？Python PID.constraint怎么用？Python PID.constraint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.constraint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: PositionController
# 需要导入模块: from pid import PID [as 别名]
# 或者: from pid.PID import constraint [as 别名]
class PositionController():
def __init__(self, autopilot, state_estimation, **kwargs):
self.sm = SensorModel()
self.heading = None
self.targets = {}
self.autopilot = autopilot
self.state_estimation = state_estimation
self.maximum_thrust = 1850
self.minimum_thrust = 1350
# self.altitude_pid = kwargs.get('altitude_pid')
p = 25
i = 0.6
d = 0
max_t = 50
min_t = -5
self.altitude_pid = PID(
P=p,
I=i,
D=d,
Derivator=0,
Integrator=0,
Integrator_max=25,
Integrator_min=-25,
maximum_thrust=max_t,
minimum_thrust=min_t,
)
self.heading_pid = PID(
P=1,
I=0,
D=0,
Derivator=0,
Integrator=0,
Integrator_max=25,
Integrator_min=-25,
maximum_thrust=25,
minimum_thrust=-25,
)
def headingHold(self):
if not self.targets.get('heading'):
#self.targets['heading'] = self.state_estimation.getHeading()
self.targets['heading'] = self.autopilot.heading
self.heading_pid.setPoint(self.targets.get('heading'))
thrust_correction = self.altitude_pid.update(self.autopilot.heading)
# thrust_correction = self.althold_pid.constraint(thrust_correction)
self.autopilot.yaw = self.autopilot.yaw + thrust_correction
def holdAltitude(self):
if not self.targets.get('altitude'):
self.targets['altitude'] = self.state_estimation.getAltitude()
self.altitude_pid.setPoint(self.targets.get('altitude'))
self.autopilot.meta_pid = MetaPid(
P=self.altitude_pid.Kp,
I=self.altitude_pid.Ki,
D=self.altitude_pid.Kd,
maximum_thrust=self.altitude_pid.maximum_thrust,
minimum_thrust=self.altitude_pid.minimum_thrust,
)
altitude = self.state_estimation.getAltitude()
thrust_correction = self.altitude_pid.update(altitude)
thrust_correction = self.altitude_pid.constraint(thrust_correction)
thrust = self.autopilot.throttle + thrust_correction
print 'target: %f altitude: %f corretion: %d current: %d new thrust: %d ' % (self.altitude_pid.set_point, self.state_estimation.getAltitude(), thrust_correction, thrust, self.autopilot.throttle)
self.autopilot.throttle = self.constraint(thrust)
self.autopilot.pid_log(
PIDlog(
corretion=thrust_correction,
altitude=altitude,
# altitude_raw=self.autopilot.altitude_barometer,
altitude_raw=self.autopilot.altitude_barometer,
target=self.altitude_pid.set_point,
thrust=self.autopilot.throttle,
error=self.altitude_pid.error,
)
)
# print 'target: %f altitude: %f' % (self.altitude_pid.set_point,
# self.state_estimation.getAltitude())
def reset_targets(self):
self.targets.clear()
def set_target_altitude(self, altitude):
self.targets['altitude'] = altitude
def constraint(self, value):
if value > self.maximum_thrust:
return self.maximum_thrust
elif value < self.minimum_thrust:
return self.minimum_thrust
else:
return int(round(value))