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Location: HydroBot/hydrobot-software/PID.py - annotation
ce32edfd2399
1.6 KiB
text/x-python
Refactoring code to make it more object oriented, modular, and usable
da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 da6947ec7d99 | import time
class PID:
def __init__(self, setpoint = 0):
self.setpoint = float(setpoint)
self.Kp = 0
self.Ki = 0
self.Kd = 0
self.min_out = 0
self.max_out = 1000
self.Reset()
def SetMin(self, min_out):
self.min_out = min_out
def SetMax(self, max_out):
self.max_out = max_out
def SetSetpoint(self, setpoint):
self.setpoint = float(setpoint)
def SetKp(self, Kp):
self.Kp = float(Kp)
def SetKi(self, Ki):
self.Ki = float(Ki)
def SetKd(self, Kd):
self.Kd = float(Kd)
def Reset(self):
self.current_time = time.time()
self.last_time = self.current_time
self.last_error = 0
self.Cp = 0
self.Ci = 0
self.Cd = 0
def Update(self, value):
print("PID input: " + str(value))
error = self.setpoint - value
self.current_time = time.time()
dt = self.current_time - self.last_time
de = error - self.last_error
self.Cp = self.Kp * error
self.Ci += error * dt
self.Cd = 0
if dt > 0:
self.Cd = de/dt
self.last_time = self.current_time
self.last_error = error
output = self.Cp + (self.Ki * self.Ci) + (self.Kd * self.Cd)
if output > self.max_out:
output = self.max_out
if output < self.min_out:
output = self.min_out
print("PID output: " + str(output))
return output
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