- update template

- simplified pid
- pant cycle time 30 s

git-svn-id: http://moon:8086/svn/projects/HendiControl@272 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/pid.py

@@ -1,4 +1,4 @@
-import numpy as np;
+import numpy as np
 
 
 class Pid():
@@ -11,12 +11,10 @@ class Pid():
 
         # Auto windup
         self.y_min = 0.0
-        self.y_max = 2.0
-        self.diff_aw = 0.0
+        self.y_max = 1.0
 
         # Output
         self.y = 0
-        self.yc = 0
 
     @staticmethod
     def params(kp, ki, kd, rho):
@@ -26,42 +24,26 @@ class Pid():
     def reset(self):
         self.yi = 0
         self.xd = 0
-        self.diff_aw = 0.0
 
-    def process(self, dt, params, err, derr=None):
+    def process(self, dt, params, err):
         kp = params['kp']
         ki = params['ki']
         kd = params['kd']
         rho = params['rho']
 
-        err_aw = err + self.diff_aw
-        yi = rho*self.yi + ki*dt * err_aw
-
-        if derr:
-            yd = derr
-        else:
-            yd = err - self.xd
+        yi = rho*self.yi + ki*dt * err
+        yd = err - self.xd
 
         _yp = kp * err
         _yi = yi
         _yd = kd/dt * yd
 
-        self.y = _yp + _yi + _yd
+        y = _yp + _yi + _yd
 
-        yaw = yi
-        if yaw < self.y_min:
-            self.diff_aw = abs(yaw - self.y_min)
-
-        if yaw > self.y_max:
-            self.diff_aw = -abs(yaw - self.y_max)
-
-        self.yc = max(self.y_min, min(self.y_max, self.y))
+        self.y = max(self.y_min, min(self.y_max, y))
 
         self.yi = yi
         self.xd = err
 
     def get_y(self):
         return self.y
-
-    def get_yc(self):
-        return self.yc