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ch-10 clean

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Danny Staple
2022-03-20 22:31:18 +00:00
parent c632222255
commit b595f3be54
14 changed files with 369 additions and 356 deletions
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ch-10/1-follow/pid.py
+17 -17
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@@ -1,23 +1,23 @@
class PID:
def __init__(self, proportional_k, integral_k, differential_k, set_point):
self.proportional_k = proportional_k
self.integral_k = integral_k
self.differential_k = differential_k
self.set_point = set_point
def __init__(self, proportional_k, integral_k, differential_k, set_point):
self.proportional_k = proportional_k
self.integral_k = integral_k
self.differential_k = differential_k
self.set_point = set_point
self.error_sum = 0
self.last_value = 0
self.error_sum = 0
self.last_value = 0
def update(self, measurement, time_delta):
error_value = measurement - self.set_point
proportional = error_value * self.proportional_k
def update(self, measurement, time_delta):
error_value = measurement - self.set_point
proportional = error_value * self.proportional_k
# calculate integral
self.error_sum += error_value * time_delta
integral = self.error_sum * self.integral_k
self.last_value = error_value
# calculate integral
self.error_sum += error_value * time_delta
integral = self.error_sum * self.integral_k
self.last_value = error_value
differentiated_error = (error_value - self.last_value) / time_delta
differential = differentiated_error * self.differential_k
differentiated_error = (error_value - self.last_value) / time_delta
differential = differentiated_error * self.differential_k
return proportional + integral + differential
return proportional + integral + differential