clear PID history when new speed set

Author: ksiegall

XRPLib/controller.py

@@ -21,4 +21,10 @@ def is_done(self) -> bool:
         :return: If the controller has reached or  settled at its desired value
         :rtype: bool
         """
+        pass
+
+    def clear_history(self):
+        """
+        Clears all past data, such as integral sums or any other previous data
+        """
         pass

XRPLib/encoded_motor.py

@@ -110,7 +110,7 @@ def get_speed(self) -> float:
         :rtype: float
         """
         # Convert from ticks per 20ms to rpm (60 sec/min, 50 Hz)
-        return self.speed*(60*50)
+        return self.speed*(60*50)/self._encoder.ticks_per_rev
 
     def set_speed(self, speed_rpm: float | None = None):
         """
@@ -123,11 +123,13 @@ def set_speed(self, speed_rpm: float | None = None):
         if speed_rpm is None:
             self.target_speed = None
             self.set_effort(0)
+            self.speed = 0
             return
         # If the update timer is not running, start it at 50 Hz (20ms updates)
         self.updateTimer.init(period=20, callback=lambda t:self._update())
         # Convert from rev per min to ticks per 20ms (60 sec/min, 50 Hz)
-        self.target_speed = speed_rpm/(60*50)
+        self.target_speed = speed_rpm*self._encoder.ticks_per_rev/(60*50)
+        self.speedController.clear_history()
 
     def set_speed_controller(self, new_controller: Controller):
         """
@@ -137,12 +139,13 @@ def set_speed_controller(self, new_controller: Controller):
         :type new_controller: Controller
         """
         self.speedController = new_controller
+        self.speedController.clear_history()
 
     def _update(self):
         """
         Non-api method; used for updating motor efforts for speed control
         """
-        current_position = self.get_position()
+        current_position = self.get_position_ticks()
         self.speed = current_position - self.prev_position
         if self.target_speed is not None:
             error = self.target_speed - self.speed

XRPLib/pid.py

@@ -111,4 +111,10 @@ def is_done(self) -> bool:
         :rtype: bool
         """
 
-        return self.times >= self.toleranceCount
+        return self.times >= self.toleranceCount
+    
+    def clear_history(self):
+        self.prevError = 0
+        self.prevIntegral = 0
+        self.prevOutput = 0
+        self.times = 0

XRPLib/version.py

@@ -1,5 +1,5 @@
 """
 A python file holding the version number of the XRPLib package. This is used by the IDE to determine if the package needs to be updated.
 """
-# Last updated 29-June-2023
-__version__ = '0.9.3'
+# Last updated 13-July-2023
+__version__ = '0.9.4'