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Clear speed controller history when direction of speed changes #103

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Clear speed controller history when direction of speed changes #103

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9 changes: 8 additions & 1 deletion XRPLib/encoded_motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,7 @@ def __init__(self, motor, encoder: Encoder):
self.speedController = self.DEFAULT_SPEED_CONTROLLER
self.prev_position = 0
self.speed = 0
self.prev_speed = 0
# Use a virtual timer so we can leave the hardware timers up for the user
self.updateTimer = Timer(-1)
# If the update timer is not running, start it at 50 Hz (20ms updates)
Expand Down Expand Up @@ -175,6 +176,12 @@ def set_speed(self, speed_rpm: float = None):
self.set_effort(0)
self.speedController.clear_history()
return

if self.prev_speed * speed_rpm < 0:
self.speedController.clear_history()

self.prev_speed = speed_rpm

# Convert from rev per min to counts per 20ms (60 sec/min, 50 Hz)
self.target_speed = speed_rpm*self._encoder.resolution/(60*50)

Expand All @@ -198,4 +205,4 @@ def _update(self):
error = self.target_speed - self.speed
effort = self.speedController.update(error)
self._motor.set_effort(effort)
self.prev_position = current_position
self.prev_position = current_position