§
     ïÞfË  ã                   ó(   — d dl Z  G d„ d¦  «        ZdS )é    Nc                   ó8   — e Zd ZdZd
d„Zd„ Zd„ Zd„ Zd„ Zd„ Z	d	S )ÚIncremental_PIDz PID controllerç        c                 ó’   — d| _         || _        || _        || _        d| _        d| _        d| _        d| _        d| _        d| _	        d S )Nr   g      $@)
ÚsetPointÚKpÚKiÚKdÚ
last_errorÚP_errorÚI_errorÚD_errorÚI_saturationÚoutput)ÚselfÚPÚIÚDs       ú./home/digit/Desktop/robocat/Code/Server/PID.pyÚ__init__zIncremental_PID.__init__   sM   € ØˆŒØˆŒØˆŒØˆŒØˆŒØˆŒØˆŒØˆŒØ ˆÔØˆŒˆˆó    c                 ó\  — | j         |z
  }| j        |z  | _        | xj        |z  c_        | j        || j        z
  z  | _        | j        | j         k     r| j         | _        n| j        | j        k    r| j        | _        | j        | j        | j        z  z   | j        z   | _	        || _        | j	        S ©N)
r   r   r   r   r
   r   r   r   r	   r   )r   Úfeedback_valÚerrors      r   ÚPID_computezIncremental_PID.PID_compute   s©   € Ø” Ñ,ˆØ”w ‘ˆŒØˆŒ˜ÑˆŒØ”w %¨$¬/Ñ"9Ñ:ˆŒØŒL˜DÔ-Ð-Ò-Ð-Ø Ô-Ð-ˆDŒLˆLØŒl˜TÔ.Ò.Ð.ØÔ,ˆDŒLØ”l d¤g°´Ñ&<Ñ=ÀÄÑLˆŒØˆŒØŒ{Ðr   c                 ó   — || _         d S r   )r   )r   Úproportional_gains     r   ÚsetKpzIncremental_PID.setKp   s   € Ø#ˆŒˆˆr   c                 ó   — || _         d S r   )r	   )r   Úintegral_gains     r   ÚsetKizIncremental_PID.setKi!   s   € ØˆŒˆˆr   c                 ó   — || _         d S r   )r
   )r   Úderivative_gains     r   ÚsetKdzIncremental_PID.setKd$   s   € Ø!ˆŒˆˆr   c                 ó   — || _         d S r   )r   )r   Úsaturation_vals     r   ÚsetI_saturationzIncremental_PID.setI_saturation'   s   € Ø*ˆÔÐÐr   N)r   r   r   )
Ú__name__Ú
__module__Ú__qualname__Ú__doc__r   r   r   r"   r%   r(   © r   r   r   r      sy   € € € € € ØÐð
ð 
ð 
ð 
ðð ð ð$ð $ð $ð ð  ð  ð"ð "ð "ð+ð +ð +ð +ð +r   r   )Útimer   r-   r   r   ú<module>r/      s@   ðà €€€ð%+ð %+ð %+ð %+ð %+ñ %+ô %+ð %+ð %+ð %+r   