ch-10 clean

2022-03-20 22:31:18 +00:00
parent c632222255
commit b595f3be54
14 changed files with 369 additions and 356 deletions
@@ -2,41 +2,41 @@ from black import err


 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.min_output = -1
-    self.max_output = 1
+        self.error_sum = 0
+        self.last_value = 0
+        self.min_output = -1
+        self.max_output = 1

-    self.dead_zone = 0.3
+        self.dead_zone = 0.3

-  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
-    # clamp it
-    self.error_sum = min(self.max_output, self.error_sum)
-    self.error_sum = max(self.min_output, self.error_sum)
+        # calculate integral
+        self.error_sum += error_value * time_delta
+        # clamp it
+        self.error_sum = min(self.max_output, self.error_sum)
+        self.error_sum = max(self.min_output, self.error_sum)

-    integral = self.error_sum * self.integral_k
+        integral = self.error_sum * self.integral_k

-    differentiated_error = (error_value - self.last_value) / time_delta
-    differential = differentiated_error * self.differential_k
-    self.last_value = error_value
+        differentiated_error = (error_value - self.last_value) / time_delta
+        differential = differentiated_error * self.differential_k
+        self.last_value = error_value

-    output = proportional + integral + differential
-    # clamp output
-    if abs(output) < self.dead_zone:
-      output = 0
-    else:
-      output = min(self.max_output, output)
-      output = max(self.min_output, output)
+        output = proportional + integral + differential
+        # clamp output
+        if abs(output) < self.dead_zone:
+            output = 0
+        else:
+            output = min(self.max_output, output)
+            output = max(self.min_output, output)

-    return output
+        return output