libstp.foundation
Python bindings for libstp-foundation
Functions
debug(→ None)
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Log a message with severity level debug |
error(→ None)
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Log a message with severity level error |
info(→ None)
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Log a message with severity level info |
initialize_logging(→ None)
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Initialize and enable the logging system |
initialize_timer(→ None)
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Initialize the timer for elapsed time logging |
warn(→ None)
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Log a message with severity level warn |
Module Contents
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class libstp.foundation.ChassisVelocity
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class libstp.foundation.ChassisVelocity(arg0: float, arg1: float, arg2: float)
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vx: float
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vy: float
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wz: float
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class libstp.foundation.Feedforward
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class libstp.foundation.Feedforward(kS: float, kV: float, kA: float)
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kA: float
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kS: float
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kV: float
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class libstp.foundation.MotorCalibration
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class libstp.foundation.MotorCalibration(ff: Feedforward, pid: PidGains, ticks_to_rad: float, vel_lpf_alpha: float)
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ff: Feedforward
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pid: PidGains
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ticks_to_rad: float
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vel_lpf_alpha: float
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class libstp.foundation.PIDController(Kp: float, Ki: float, Kd: float)
A PID controller for managing control loops.
This class provides methods for tuning and executing a PID control loop
with configurable proportional, integral, and derivative gains.
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calculate(error: float) → float
Calculate the PID output for a given error.
- Parameters:
error (float) – The current error in the system.
- Returns:
The calculated PID output, clamped to the specified range.
- Return type:
float
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class libstp.foundation.PidGains
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class libstp.foundation.PidGains(kp: float, ki: float, kd: float)
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kd: float
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ki: float
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kp: float
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class libstp.foundation.Pose
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position: numpy.ndarray[numpy.float32[3, 1]]
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property heading: float
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libstp.foundation.debug(message: str) → None
Log a message with severity level debug
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libstp.foundation.error(message: str) → None
Log a message with severity level error
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libstp.foundation.info(message: str) → None
Log a message with severity level info
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libstp.foundation.initialize_logging() → None
Initialize and enable the logging system
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libstp.foundation.initialize_timer() → None
Initialize the timer for elapsed time logging
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libstp.foundation.warn(message: str) → None
Log a message with severity level warn