PID¶
Class implementing a classic PID controller
Instance attributes: :param gain_p: Proportional gain. :param gain_i: Integral gain. :param gain_d: Derivative gain. :param dt: Simulation time step.
The class should be used as:
pid = PID(100, 10, 0.1, 0.1) pid.set_point(target_point) control = pid(current_point)