- PID: use pot for testing

components/pid/pid.py

@@ -36,7 +36,7 @@ class Pid:
         yp = kp * err
 
         # Reset yi on error sign changes
-        if yp > self.y_max or yp < self.y_min:
+        if yp > self.y_max or yp <= self.y_min or np.sign(err) != np.sign(self.err):
             self.yi = 0
 
         self.err = err
@@ -44,7 +44,6 @@ class Pid:
         y = yp + self.yi + yd
 
         self.y = max(self.y_min, min(self.y_max, y))
-        print("yi = {}".format(self.yi))
 
     def get_y(self):
         return self.y