PID¶

class pyniryo_nate.models.robot.PID(p: float, i: float, d: float, ff: float, max_i: float, max_out: float)[source]¶

Bases: object

Represents PID controller gains.

Parameters:

p (float) – Proportional gain.
i (float) – Integral gain.
d (float) – Derivative gain.
ff (float) – Feed-forward gain.
max_i (float) – Maximum integral term value.
max_out (float) – Maximum output value.

Attributes

`p`
`i`
`d`
`ff`
`max_i`
`max_out`

Methods

`from_transport_model`
`to_transport_model`

p: float¶

i: float¶

d: float¶

ff: float¶

max_i: float¶

max_out: float¶

classmethod from_transport_model(model: PIDGains) → PID[source]¶

Parameters:: model (PIDGains)
Return type:: PID

to_transport_model() → PIDGains[source]¶

Return type:: PIDGains