28 lines
940 B
Python
28 lines
940 B
Python
class PIDController:
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def __init__(self, kp, ki, kd, d_filter_gain=0.1, imax=None, imin=None):
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self.kp = kp
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self.ki = ki
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self.kd = kd
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self.d_filter_gain = d_filter_gain
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self.imax = imax
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self.imin = imin
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self.reset()
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def reset(self):
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self.integral = 0
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self.error_prev = 0
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self.derivative = 0
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def calculate(self, error, dt):
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self.integral += error * dt
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if self.imax is not None and self.integral > self.imax:
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self.integral = self.imax
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if self.imin is not None and self.integral < self.imin:
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self.integral = self.imin
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# Add a low pass filter to the difference
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difference = (error - self.error_prev) * self.d_filter_gain
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self.error_prev += difference
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self.derivative = difference / dt
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return self.kp * error + self.ki * self.integral + self.kd * self.derivative
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