Generation

generate functionSun, 04 Dec 2022

PID

def PID(Kp, Ki, Kd, setpoint, current_value, last_error, last_time): error = setpoint - current_value integral = integral + (error*dt) derivative = (error - last_error)/dt output = Kp*error + Ki*integral + Kd*derivative last_error = error last_time = time return (output, integral, derivative, last_error, last_time)

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