Chapter 10 follow behaviors

ch-10/3-wall-follow/pid.py

@@ -0,0 +1,19 @@
+class PID:
+  def __init__(self, proportional_k, integral_k, differential_k) -> None:
+    self.proportional_k = proportional_k    
+    self.integral_k = integral_k
+    self.differential_k = differential_k
+
+    self.integral = 0
+    self.last_value = 0
+
+  def update(self, error_value, time_delta):
+    proportional = error_value * self.proportional_k
+
+    self.integral += error_value * time_delta
+    integral = self.integral * self.integral_k
+
+    differentiated_error = (error_value - self.last_value) / time_delta
+    differential = differentiated_error * self.differential_k
+
+    return proportional + integral + differential