PidParams.py

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###############################################################################
#
# Module:   Laelaps.PidParams.py
#
# Package:  RoadNarrows Laelaps Robotic Mobile Platform Package
#
# Link:     https://github.com/roadnarrows-robotics/laelaps
#
# File:     PidParams.py
#
## \file 
##
## $LastChangedDate: 2016-02-02 13:47:13 -0700 (Tue, 02 Feb 2016) $
## $Rev: 4293 $
##
## \brief PID parameters classes.
##
## \author Robin Knight (robin.knight@roadnarrows.com)
##  
## \par Copyright
##   \h_copy 2015-2017. RoadNarrows LLC.\n
##   http://www.roadnarrows.com\n
##   All Rights Reserved
##
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###############################################################################

import sys
import os
import time
import math

PidKDiv = float(0x010000)
PidKMin = 0.0
PidKMax = float(2**31)

# ------------------------------------------------------------------------------
# Class VelPidParams
# ------------------------------------------------------------------------------

class VelPidParams:
  def __init__(self):
    self.m_Kp       = 0.0
    self.m_Ki       = 0.0
    self.m_Kd       = 0.0
    self.m_maxQpps  = 0
    self.m_maxAccel = 0.0

  def setFromRawCtlrVals(self, Kp, Ki, Kd, maxQpps):
    self.m_Kp       = Kp/PidKDiv
    self.m_Ki       = Ki/PidKDiv
    self.m_Kd       = Kd/PidKDiv
    self.m_maxQpps  = maxQpps