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34 lines
812 B
Python
34 lines
812 B
Python
import numpy as np
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class Loop(object):
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def __init__(self, Kp, Ki, Fs, output=0):
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Ts = 1.0 / Fs
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self.coeffs = [Ki*Ts/2 - Kp, Ki*Ts/2 + Kp]
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self.output = output
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self.inputs = [0]
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def handle(self, err):
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self.inputs.append(err)
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self.output = self.output + np.dot(self.inputs, self.coeffs)
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self.inputs.pop(0)
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return self.output
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class PLL(object):
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def __init__(self, freq, Fs, filt, phase=0):
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self.freq = freq
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self.phase = phase
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self.Ts = 1.0/Fs
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self.filt = filt
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def handle(self, sample):
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self.pred = np.cos(self.phase)
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self.quad = np.cos(self.phase)
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err = self.quad * sample
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self.freq += self.filt(err)
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self.phase += self.freq * self.Ts
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def test():
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pass
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