- PID: no params for constructor

- adedd dt
- fixed set_params

components/pid/pid.py

@@ -1,8 +1,10 @@
 
 
 class Pid:
-    def __init__(self, params):
+    def __init__(self, dt):
-        self.params = params
+        self.dt = dt
+        self.params = None
+
         self.k = 1.0
 
         # Integrator
@@ -22,8 +24,8 @@ class Pid:
     def scale(self, k):
         self.k = k
 
-    def set_params(self, kp, ki, kd, kt):
+    def set_params(self, params):
-        self.params = dict(kp=kp, ki=ki, kd=kd, kt=kt)
+        self.params = params
 
     def reset(self):
         self.yi = 0
@@ -31,7 +33,7 @@ class Pid:
         self.awu = 0
 
     def process(self, err, d):
-        dt = self.params['dt']
+        dt = self.dt
         kp = self.params['kp'] * self.k
         ki = self.params['ki'] * self.k
         kd = self.params['kd'] * self.k