Module Expr Str Import alias Import alias Import alias ImportFrom alias Import alias ImportFrom alias ImportFrom alias ImportFrom alias alias alias ImportFrom alias ImportFrom alias ImportFrom alias Assign NameStore Call NameLoad ClassDef bases AttributeLoad NameLoad attr body Expr Str FunctionDef arguments args NameParam defaults kwarg body Expr Str Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr Num decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam NameParam NameParam defaults NameLoad kwarg body Expr Str Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr BinOpAdd NameLoad Str If UnaryOpNot NameLoad body Assign NameStore Call NameLoad keyword Num keyword Num keyword NameLoad keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr BinOpAdd NameLoad Str attr keyword Num Assign AttributeStore NameLoad attr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr BinOpAdd NameLoad Str attr keyword Num Assign AttributeStore NameLoad attr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr BinOpAdd NameLoad Str attr keyword Num Assign AttributeStore NameLoad attr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr BinOpAdd NameLoad Str attr keyword Num Assign AttributeStore NameLoad attr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr BinOpAdd NameLoad Str attr keyword Num Assign AttributeStore NameLoad attr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad attr keyword Num Assign AttributeStore NameLoad attr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad attr keyword Num Assign AttributeStore NameLoad attr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad attr keyword Num Assign AttributeStore NameLoad attr Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad attr keyword Num decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign AttributeStore AttributeLoad NameLoad attr attr Num decorator_list FunctionDef arguments args NameParam defaults kwarg body Expr Str Expr Call AttributeLoad Call NameLoad NameLoad NameLoad attr NameLoad Assign AttributeStore AttributeLoad NameLoad attr attr AttributeLoad NameLoad attr If CompareLtE AttributeLoad NameLoad attr Num body Return Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr If CompareGt Call NameLoad BinOpSub NameLoad NameLoad AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr body Assign AttributeStore AttributeLoad NameLoad attr attr NameLoad Assign AttributeStore AttributeLoad NameLoad attr attr Num orelse Assign NameStore NameLoad Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr keyword BinOpSub NameLoad NameLoad keyword AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr Assign AttributeStore AttributeLoad NameLoad attr attr NameLoad If AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr body Assign NameStore BinOpDiv BinOpSub NameLoad NameLoad AttributeLoad NameLoad attr orelse Assign NameStore BinOpMult AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad Assign AttributeStore AttributeLoad NameLoad attr attr NameLoad Assign NameStore AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore BinOpDiv BinOpMult AttributeLoad NameLoad attr BinOpAdd NameLoad NameLoad Num AugAssignAdd NameStore BinOpMult BinOpMult NameLoad Call AttributeLoad NameLoad attr NameLoad Num Num Call AttributeLoad NameLoad attr NameLoad Num Num Assign NameStore Call NameLoad AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr Call NameLoad AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad Assign AttributeStore AttributeLoad NameLoad attr attr NameLoad Assign NameStore BinOpAdd BinOpAdd BinOpAdd BinOpMult AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad BinOpMult AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad BinOpMult AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad BinOpMult AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad Assign NameStore Call NameLoad AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr Call NameLoad AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr NameLoad Assign AttributeStore AttributeLoad NameLoad attr attr NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Print BinOpMod Str TupleLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr Print BinOpMod Str TupleLoad AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr decorator_list decorator_list Expr Call AttributeLoad NameLoad attr Str keyword Call NameLoad keyword Str keyword Str keyword Str keyword Str keyword Str keyword Call NameLoad keyword Num keyword Num keyword NameLoad keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num Expr Call AttributeLoad NameLoad attr Str keyword Call NameLoad keyword Str keyword Str keyword Str keyword Str keyword Str keyword Call NameLoad keyword Num keyword Num keyword NameLoad keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num Expr Call AttributeLoad NameLoad attr Str keyword Call NameLoad keyword Str keyword Str keyword Str keyword Str keyword Str keyword Call NameLoad keyword Num keyword Num keyword NameLoad keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num Expr Call AttributeLoad NameLoad attr Str keyword Call NameLoad keyword Str keyword Str keyword Str keyword Str keyword Str keyword Call NameLoad keyword Num keyword Num keyword NameLoad keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num keyword Num
N/A N/A controlling.py controller deed module

 N/A math N/A time N/A struct collections deque N/A inspect aid.sixing * aid.odicting odict aid aiding navigating blending base storing base doing aid.consoling getConsole N/A console N/A getConsole ControllerPid N/A N/A doing DoerLapse N/A N/A PIDController DeedLapse Deed Class
       PID Controller Class

     __init__ N/A N/A self N/A kw N/A N/A Initialize instance


           inherited instance attributes
           .stamp = time stamp
           .lapse = time lapse between updates of controller
           .name
           .store

         N/A N/A N/A N/A super ControllerPid self __init__ kw N/A N/A self lapse 0.0 N/A _initio N/A N/A self group output input rate rsp parms N/A None kw N/A N/A  Override default since legacy deed interface

            group is path name of group in store, group has following subgroups or shares:
              group.parm = share for data structure of fixed parameters or coefficients
                 parm has the following fields:
                    wrap = where setpoint wraps around must be positive
                    drsp = delta rsp needed to indicate change in rsp avoids rounding error
                    calcRate = True rate is time difference, False rate is rate sensor input
                    ger = error rate to rate conversion gain
                    gff = feedforward reference to controller gain
                    gpe = proportional error gain
                    gde = derivative error gain
                    gie = integral error gain
                    esmax = maximum error sum
                    esmin = minimum error sum
                    ovmax = maximum controller output value
                    ovmin = minimum controller output value

              group.elapsed = share copy of lapse for logging
              group.prsp = share of prior reference set point needed to compute if changed
              group.e = share of error between rsp and input value appropriately scaled
              group.er = share of rate of change of error
              group.es = share of summation of error

           output is path name of share for output/truth of arbiter

           input = path name of input controlled variable
           rate = path name to input sensed rate of change of controlled variable
           rsp = path name of reference set point for controlled variable
           parms is optional dictionary of initial values for group.parm fields

           instance attributes

           .output = reference to output share
           .group = copy of group name
           .parm = reference to input parameter share
           .elapsed = referenceto lapse share
           .prsp = reference to prior ref set point share
           .e = reference to error share
           .er = reference to error rate share
           .es = reference to error sum share

           .input = reference to input share
           .rate = reference to input rate share
           .rsp = reference to input reference set point

         N/A N/A self group group N/A N/A self parm N/A N/A N/A self store create N/A group .parm N/A N/A parms N/A N/A parms N/A dict wrap 0.0 drsp 0.01 calcRate True ger 1.0 gff 0.0 gpe 0.0 gde 0.0 gie 0.0 esmax 0.0 esmin 0.0 ovmax 0.0 ovmin 0.0 N/A N/A N/A N/A self parm create parms N/A N/A self elapsed N/A N/A N/A N/A N/A self store create N/A group .elapsed create value 0.0 N/A N/A self prsp N/A N/A N/A N/A N/A self store create N/A group .prsp create value 0.0 N/A N/A self e N/A N/A N/A N/A N/A self store create N/A group .error create value 0.0 N/A N/A self er N/A N/A N/A N/A N/A self store create N/A group .errorRate create value 0.0 N/A N/A self es N/A N/A N/A N/A N/A self store create N/A group .errorSum create value 0.0 N/A N/A self output N/A N/A N/A N/A N/A self store create output update value 0.0 N/A N/A self input N/A N/A N/A N/A N/A self store create input create value 0.0 N/A N/A self rate N/A N/A N/A N/A N/A self store create rate create value 0.0 N/A N/A self rsp N/A N/A N/A N/A N/A self store create rsp create value 0.0 N/A restart N/A N/A self N/A N/A N/A Restart controller    N/A N/A N/A self es value 0.0 N/A action N/A N/A self N/A kw N/A N/A update will use inputs from store
           assumes all inputs come from deeds that use value as their output attribute name
         N/A N/A N/A N/A super ControllerPid self action kw N/A N/A N/A self elapsed value N/A self lapse N/A N/A N/A self lapse 0.0 N/A N/A N/A input N/A N/A self input value N/A rate N/A N/A self rate value N/A rsp N/A N/A self rsp value N/A prsp N/A N/A self prsp value N/A N/A N/A abs N/A rsp prsp N/A N/A N/A self parm data drsp N/A N/A N/A N/A self prsp value rsp N/A N/A N/A self es value 0.0 N/A N/A rsp prsp N/A pe N/A N/A self e value N/A e N/A N/A navigating Wrap2 angle N/A input rsp wrap N/A N/A N/A self parm data wrap N/A N/A N/A self e value e N/A N/A N/A N/A self parm data calcRate N/A N/A er N/A N/A e pe N/A self lapse N/A N/A er N/A N/A N/A N/A self parm data ger rate N/A N/A N/A self er value er N/A es N/A N/A self es value N/A ae N/A N/A N/A self lapse N/A e pe 2.0 N/A es N/A N/A ae N/A N/A blending blend0 ae 0.0 3.0 N/A N/A blending blend0 er 0.0 0.1 N/A es N/A min N/A N/A N/A self parm data esmax N/A max N/A N/A N/A self parm data esmin es N/A N/A N/A self es value es N/A out N/A N/A N/A N/A N/A N/A N/A self parm data gff rsp N/A N/A N/A N/A self parm data gpe e N/A N/A N/A N/A self parm data gde er N/A N/A N/A N/A self parm data gie es N/A out N/A min N/A N/A N/A self parm data ovmax N/A max N/A N/A N/A self parm data ovmin out N/A N/A N/A self output value out N/A None N/A _expose N/A N/A self N/A N/A N/A 
           prints out controller state

         N/A N/A Controller PID %s stamp = %s lapse = %0.3f input = %0.3f set point = %0.3f  N/A N/A self name N/A self stamp N/A self lapse N/A N/A self input value N/A N/A self rsp value N/A N/A     error = %0.3f errorRate = %0.3f errorSum = %0.3f output = %0.3f truth = %s N/A N/A N/A self e value N/A N/A self er value N/A N/A self es value N/A N/A self output value N/A N/A self output truth N/A N/A N/A N/A N/A ControllerPid __register__ ControllerPidSpeed ioinits N/A odict group controller.pid.speed output goal.rpm input state.speed rate state.speedRate rsp goal.speed parms N/A dict wrap 0.0 drsp 0.01 calcRate True ger 1.0 gff 400.0 gpe 0.0 gde 0.0 gie 0.0 esmax 0.0 esmin 0.0 ovmax 1500.0 ovmin 0.0 N/A N/A N/A ControllerPid __register__ ControllerPidHeading ioinits N/A odict group controller.pid.heading output goal.rudder input state.heading rate state.headingRate rsp goal.heading parms N/A dict wrap 180.0 drsp 0.01 calcRate True ger 1.0 gff 0.0 gpe 3.0 gde 0.0 gie 0.0 esmax 0.0 esmin 0.0 ovmax 20.0 ovmin -20.0 N/A N/A N/A ControllerPid __register__ ControllerPidDepth ioinits N/A odict group controller.pid.depth output goal.pitch input state.depth rate state.depthRate rsp goal.depth parms N/A dict wrap 0.0 drsp 0.01 calcRate True ger 1.0 gff 0.0 gpe 8.0 gde 0.0 gie 1.0 esmax 5.0 esmin -5.0 ovmax 10.0 ovmin -10.0 N/A N/A N/A ControllerPid __register__ ControllerPidPitch ioinits N/A odict group controller.pid.pitch output goal.stern input state.pitch rate state.pitchRate rsp goal.pitch parms N/A dict wrap 180.0 drsp 0.01 calcRate True ger 1.0 gff 0.0 gpe 2.0 gde 0.0 gie 0.0 esmax 0.0 esmin 0.0 ovmax 20.0 ovmin -20.0