- PID: added set_param()

2020-12-21 11:28:44 +01:00
parent 5f60312d4e
commit b9b1a1c613
1 changed files with 2 additions and 4 deletions
@@ -22,10 +22,8 @@ class Pid:
    def scale(self, k):
        self.k = k

-    @staticmethod
-    def params(kp, ki, kd, kt):
-        p = dict(kp=kp, ki=ki, kd=kd, kt=kt)
-        return p
+    def set_params(self, kp, ki, kd, kt):
+        self.params = dict(kp=kp, ki=ki, kd=kd, kt=kt)

    def reset(self):
        self.yi = 0