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Code Issues Releases Activity

pybricks.common.Control: Document deadzone.

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This commit is contained in:
Laurens Valk
2023-02-02 14:45:34 +01:00
parent 0e8b6cfd97
commit 428bca79ab
3 changed files with 11 additions and 7 deletions
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CHANGELOG.md
+3
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@@ -4,6 +4,9 @@
## Unreleased
### Added
- Documented ``integral_deadzone`` in ``Control.pid()``.
## 3.2.0 - 2022-12-20
### Changed
jedi/tests/test_get_signature.py
+2 -2
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@@ -637,12 +637,12 @@ METHOD_PARAMS = [
"kp: Optional[Number]=None",
"ki: Optional[Number]=None",
"kd: Optional[Number]=None",
"reserved: Optional[Number]=None",
"integral_deadzone: Optional[Number]=None",
"integral_rate: Optional[Number]=None",
],
"None",
),
([], "Tuple[int, int, int, None, int]"),
([], "Tuple[int, int, int, int, int]"),
],
),
pytest.param(
src/pybricks/_common.py
+6 -5
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@@ -219,18 +219,18 @@ class Control:
kp: Optional[Number] = None,
ki: Optional[Number] = None,
kd: Optional[Number] = None,
reserved: Optional[Number] = None,
integral_deadzone: Optional[Number] = None,
integral_rate: Optional[Number] = None,
) -> None:
...
@overload
def pid(self) -> Tuple[int, int, int, None, int]:
def pid(self) -> Tuple[int, int, int, int, int]:
...
def pid(self, *args):
"""pid(kp, ki, kd, reserved, integral_rate)
pid() -> Tuple[int, int, int, None, int]
"""pid(kp, ki, kd, integral_deadzone, integral_rate)
pid() -> Tuple[int, int, int, int, int]
Gets or sets the PID values for position and speed control.
@@ -245,7 +245,8 @@ class Control:
kd (int): Derivative position (or proportional speed) control
constant. It is the feedback torque per
unit of speed: µNm/(deg/s).
reserved: This setting is not used.
integral_deadzone (Number, deg or Number, mm): Zone around the
target where the error integral does not accumulate errors.
integral_rate (Number, deg/s or Number, mm/s): Maximum rate at
which the error integral is allowed to grow.
"""