- refactored PID params

components/pid/pid.py

@@ -2,7 +2,9 @@ import numpy as np
 
 
 class Pid:
-    def __init__(self):
+    def __init__(self, params):
+        self.params = params
+
         # Integrator
         self.yi = 0
 
@@ -25,11 +27,12 @@ class Pid:
         self.yi = 0
         self.err = 0
 
-    def process(self, dt, params, err):
-        kp = params['kp']
-        ki = params['ki']
-        kd = params['kd']
-        rho = params['rho']
+    def process(self, err):
+        dt = self.params['dt']
+        kp = self.params['kp']
+        ki = self.params['ki']
+        kd = self.params['kd']
+        rho = self.params['rho']
 
         self.yi = rho*self.yi + ki*dt * err
         yd = kd/dt*(err - self.err)