PID

class sharpy.utils.control_utils.PID(gain_p, gain_i, gain_d, dt)

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)