motor_control

class MotorControlBase(powertrain: Powertrain)

Bases: ABC

MotorControlBase object.

Abstract base class for creating motor control objects.

See Also

PWMControl

abstract add_rule(rule: RuleBase)
abstract apply_rules()
abstract property rules: list
class PWMControl(powertrain: Powertrain)

Bases: MotorControlBase

PWMControl object.

Attributes

ruleslist

The list of the pwm rules to be applied.

Methods

add_rule()

It adds a rule to rules list.

apply_rules()

It applies all the rules in order to get a valid pwm value to set to the powertrain’s motor.

Raises

TypeError

  • If powertrain is not an instance of Powertrain,

  • if the first element in powertrain is not an instance of MotorBase,

  • if an element of powertrain is not an instance of RotatingObject.

ValueError

If powertrain.elements is an empty tuple.

See Also

DCMotor.pwm

add_rule(rule: RuleBase) → None

It adds a rule to rules list.

Parameters

ruleRuleBase

Rule to be added to rules list.

Raises

TypeError

If rule is not an instance of RuleBase.

See Also

rules module

apply_rules() → None

It applies all the rules in order to get a valid pwm value to set to the powertrain’s motor.

It loops over listed rules and applies all of them:

  • if a single rule returns a valid pwm, then this value is set as powertrain’s motor pwm,

  • if more than a single rule returns a valid pwm, then it raises a ValueError, since multiple rules are valid at the same time and it is not possible to identify which pwm value to use,

  • if no rule returns a valid pwm, then it sets powertrain’s motor pwm to 1.

Before settings the pwm, its value is saturated in order to be within -1 and 1.

Raises

ValueError

If two different rules are applicable at the same time. Only a single applicable rule is allowed to a specific simulation time.

property rules: list

List of the pwm rules to be applied.

Returns

list

The list of the pwm rules to be applied.

See Also

rules module

class RuleBase

Bases: ABC

RuleBase object.

Abstract base class for creating rules objects.

See Also

ConstantPWM

ReachAngularPosition

StartLimitCurrent

StartProportionalToAngularPosition

abstract apply()