- added stirrer

- many other improvements

git-svn-id: http://moon:8086/svn/projects/HendiControl@116 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/pid.py

@@ -11,7 +11,7 @@ class Pid():
 
         # Auto windup
         self.y_min = 0.0
-        self.y_max = 80.0
+        self.y_max = 100.0
         self.diff_aw = 0.0
 
         # Output
@@ -23,7 +23,7 @@ class Pid():
         p = dict(kp=kp, ki=ki, kd=kd, rho=rho)
         return p
 
-    def process(self, params, err):
+    def process(self, dt, params, err):
         kp = params['kp']
         ki = params['ki']
         kd = params['kd']
@@ -34,8 +34,8 @@ class Pid():
         yd = err - self.xd
 
         _yp = kp * err
-        _yi = ki * yi
-        _yd = kd * yd
+        _yi = ki*dt * yi
+        _yd = kd/dt * yd
 
         self.y = _yp + _yi + _yd