control

package
v0.46.0 Latest Latest
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 Go to latest Published: Oct 14, 2024 License: AGPL-3.0 Imports: 12 Imported by: 0

Documentation

Overview

Package control package for feedback loop controls This is an Experimental package

Index

Constants

View Source 
const (
	BlockNameEndpoint    = "endpoint"
	BlockNameConstant    = "constant"
	BlockNameTrapezoidal = "trapezoidalVelocityProfile"
)

BlockNameEndpoint, BlockNameConstant, and BlockNameTrapezoidal represent the strings needed to update a control loop block.

Variables

This section is empty.

Functions

func TunedPIDErr added in v0.42.0 

func TunedPIDErr(name string, tunedVals []PIDConfig) error

TunedPIDErr returns an error with the stored tuned PID values.

func TuningInProgressErr added in v0.42.0 

func TuningInProgressErr(name string) error

TuningInProgressErr returns an error when the loop is actively tuning.

func UpdateConstantBlock added in v0.23.0 

func UpdateConstantBlock(ctx context.Context, name string, constVal float64, loop *Loop) error

UpdateConstantBlock creates and sets a control config constant block.

func UpdateTrapzBlock added in v0.23.0 

func UpdateTrapzBlock(ctx context.Context, name string, maxVel float64, dependsOn []string, loop *Loop) error

UpdateTrapzBlock creates and sets a control config trapezoidalVelocityProfile block.

Types

type Block added in v0.0.8 

type Block interface {
	// Reset will reset the control block to initial state. Returns an error on failure
	Reset(ctx context.Context) error

	// Next calculate the next output. Takes an array of float64 , a delta time returns True and the output value on success false otherwise
	Next(ctx context.Context, x []*Signal, dt time.Duration) ([]*Signal, bool)

	// UpdateConfig update the configuration of a pre-existing control block returns an error on failure
	UpdateConfig(ctx context.Context, config BlockConfig) error

	// Output returns the most recent valid value, useful for block aggregating signals
	Output(ctx context.Context) []*Signal

	// Config returns the underlying config for a Block
	Config(ctx context.Context) BlockConfig
}

Block interface for a control block.

type BlockConfig added in v0.0.8 

type BlockConfig struct {
	Name      string             `json:"name"`       // Control Block name
	Type      controlBlockType   `json:"type"`       // Control Block type
	Attribute utils.AttributeMap `json:"attributes"` // Internal block configuration
	DependsOn []string           `json:"depends_on"` // List of blocks needed for calling Next
}

BlockConfig configuration of a given block.

func CreateConstantBlock added in v0.22.0 

func CreateConstantBlock(ctx context.Context, name string, constVal float64) BlockConfig

CreateConstantBlock returns a new constant block based on the parameters.

func CreateTrapzBlock added in v0.22.0 

func CreateTrapzBlock(ctx context.Context, name string, maxVel float64, dependsOn []string) BlockConfig

CreateTrapzBlock returns a new trapezoidalVelocityProfile block based on the parameters.

type Config added in v0.0.8 

type Config struct {
	Blocks    []BlockConfig `json:"blocks"`    // Blocks Control Block Config
	Frequency float64       `json:"frequency"` // Frequency loop Frequency
}

Config configuration of the control loop.

type Control 

type Control interface {
	// OutputAt returns the Signal at the block name, error when the block doesn't exist
	OutputAt(ctx context.Context, name string) ([]*Signal, error)
	// ConfigAt returns the Configl at the block name, error when the block doesn't exist
	ConfigAt(ctx context.Context, name string) (BlockConfig, error)
	// BlockList returns the list of blocks in a control loop error when the list is empty
	BlockList(ctx context.Context) ([]string, error)
	// Frequency returns the loop's frequency
	Frequency(ctx context.Context) (float64, error)
	// Start starts the loop
	Start() error
	// Stop stops the loop
	Stop()
}

Control control interface can be used to interfact with a control loop to query signals, change config, start/stop the loop etc...

type Controllable 

type Controllable interface {
	// SetState set the power and direction of the motor
	SetState(ctx context.Context, state []*Signal) error
	// Position returns the current encoder count value
	State(ctx context.Context) ([]float64, error)
}

Controllable controllable type for a DC motor.

type Loop added in v0.0.8 

type Loop struct {
	// contains filtered or unexported fields
}

Loop holds the loop config.

func NewLoop added in v0.0.8 

func NewLoop(logger logging.Logger, cfg Config, m Controllable) (*Loop, error)

NewLoop construct a new control loop for a specific endpoint.

func (*Loop) BlockList added in v0.0.8 

func (l *Loop) BlockList(ctx context.Context) ([]string, error)

BlockList returns the list of blocks in a control loop error when the list is empty.

func (*Loop) ConfigAt added in v0.0.8 

func (l *Loop) ConfigAt(ctx context.Context, name string) (BlockConfig, error)

ConfigAt returns the Config at the block name, error when the block doesn't exist.

func (*Loop) ConfigsAtType added in v0.19.0 

func (l *Loop) ConfigsAtType(ctx context.Context, bType string) []BlockConfig

ConfigsAtType returns the Config(s) at the block type, error when the block doesn't exist.

func (*Loop) Frequency added in v0.0.8 

func (l *Loop) Frequency(ctx context.Context) (float64, error)

Frequency returns the loop's frequency.

func (*Loop) GetConfig added in v0.0.8 

func (l *Loop) GetConfig(ctx context.Context) Config

GetConfig return the control loop config.

func (*Loop) GetPIDVals added in v0.42.0 

func (l *Loop) GetPIDVals(pidIndex int) PIDConfig

GetPIDVals returns the tuned PID values. TODO: update this when MIMO fully supported.

func (*Loop) GetTuning added in v0.15.0 

func (l *Loop) GetTuning(ctx context.Context) bool

GetTuning returns the current tuning value.

func (*Loop) MonitorTuning added in v0.21.0 

func (l *Loop) MonitorTuning(ctx context.Context)

MonitorTuning waits for tuning to start, and then returns once it's done.

func (*Loop) OutputAt added in v0.0.8 

func (l *Loop) OutputAt(ctx context.Context, name string) ([]*Signal, error)

OutputAt returns the Signal at the block name, error when the block doesn't exist.

func (*Loop) Pause added in v0.25.0 

func (l *Loop) Pause()

Pause sets l.running to false to pause the loop.

func (*Loop) Resume added in v0.25.0 

func (l *Loop) Resume()

Resume sets l.running to true to resume the loop.

func (*Loop) Running added in v0.25.0 

func (l *Loop) Running() bool

Running returns the value of l.running.

func (*Loop) SetConfigAt added in v0.0.8 

func (l *Loop) SetConfigAt(ctx context.Context, name string, config BlockConfig) error

SetConfigAt returns the Configl at the block name, error when the block doesn't exist.

func (*Loop) Start added in v0.0.8 

func (l *Loop) Start() error

Start starts the loop.

func (*Loop) Stop added in v0.0.8 

func (l *Loop) Stop()

Stop stops then loop.

type Options added in v0.22.0 

type Options struct {
	// PositionControlUsingTrapz adds a trapezoidalVelocityProfile block to the
	// control config to allow for position control of a component
	PositionControlUsingTrapz bool

	// SensorFeedback2DVelocityControl adds linear and angular blocks to a control
	// config in order to use the sensorcontrolled base component for velocity control
	SensorFeedback2DVelocityControl bool

	// DerivativeType is the type of derivative to be used for the derivative block of a control config
	DerivativeType string

	// UseCustomeConfig is if the necessary config is not created by this setup file
	UseCustomConfig bool

	// CompleteCustomConfig is the custom control config to be used instead of the config
	// created by this setup file
	CompleteCustomConfig Config

	// NeedsAutoTuning is true when all PID values of a PID block are 0 and
	// the control loop needs to be auto-tuned
	NeedsAutoTuning bool

	// LoopFrequency is the frequency at which the control loop should run
	LoopFrequency float64

	// ControllableType is the type of component the control loop will be set up for,
	// currently a base or motor
	ControllableType string
}

Options contains values used for a control loop.

type PIDConfig added in v0.22.0 

type PIDConfig struct {
	Type string  `json:"type,omitempty"`
	P    float64 `json:"p"`
	I    float64 `json:"i"`
	D    float64 `json:"d"`
	// contains filtered or unexported fields
}

PIDConfig is values needed to configure a PID control loop.

func (*PIDConfig) NeedsAutoTuning added in v0.22.0 

func (conf *PIDConfig) NeedsAutoTuning() bool

NeedsAutoTuning checks if the PIDConfig values require auto tuning.

func (PIDConfig) String added in v0.46.0 

func (conf PIDConfig) String() string

type PIDLoop added in v0.22.0 

type PIDLoop struct {
	BlockNames   map[string][]string
	PIDVals      []PIDConfig
	TunedVals    *[]PIDConfig
	ControlConf  *Config
	ControlLoop  *Loop
	Options      Options
	Controllable Controllable
	// contains filtered or unexported fields
}

PIDLoop is used for setting up a PID control loop.

func SetupPIDControlConfig added in v0.22.0 

func SetupPIDControlConfig(
	pidVals []PIDConfig,
	componentName string,
	options Options,
	c Controllable,
	logger logging.Logger,
) (*PIDLoop, error)

SetupPIDControlConfig creates a control config.

func (*PIDLoop) StartControlLoop added in v0.22.0 

func (p *PIDLoop) StartControlLoop() error

StartControlLoop starts a PID control loop.

func (*PIDLoop) TunePIDLoop added in v0.22.0 

func (p *PIDLoop) TunePIDLoop(ctx context.Context, cancelFunc context.CancelFunc) error

TunePIDLoop runs the auto-tuning process for a PID control loop.

type Signal 

type Signal struct {
	// contains filtered or unexported fields
}

Signal holds any data passed between blocks.

func (*Signal) GetSignalValueAt 

func (s *Signal) GetSignalValueAt(i int) float64

GetSignalValueAt returns the value of the signal at an index, threadsafe.

func (*Signal) SetSignalValueAt 

func (s *Signal) SetSignalValueAt(i int, val float64)

SetSignalValueAt set the value of a signal at an index, threadsafe.

Source Files

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