From d6037b33d3df4897967a434a267622b3a4974353 Mon Sep 17 00:00:00 2001
From: jens <jens.ahrensfeld@gmx.de>
Date: Tue, 1 Dec 2020 23:21:45 +0100
Subject: [PATCH] - PID: Modified AWU code

---
 brewpi.py             |  2 +-
 components/pid/pid.py | 21 +++++++++------------
 2 files changed, 10 insertions(+), 13 deletions(-)

diff --git a/brewpi.py b/brewpi.py
index 86406a8..b021503 100644
--- a/brewpi.py
+++ b/brewpi.py
@@ -227,7 +227,7 @@ if __name__ == '__main__':
 			"Hold": {
 				"Pid": {
 					"kp": 0.8,
-					"ki": 0.00001,
+					"ki": 0.002,
 					"kd": 0.0,
 					"rho": 1.0
 				}
diff --git a/components/pid/pid.py b/components/pid/pid.py
index 06441d6..d1b4ee6 100644
--- a/components/pid/pid.py
+++ b/components/pid/pid.py
@@ -31,23 +31,20 @@ class Pid:
         kd = params['kd']
         rho = params['rho']
 
-        yi = rho*self.yi + ki*dt * err
-        yd = err - self.err
-
-        _yp = kp * err
-        _yi = yi
-        _yd = kd/dt * yd
+        self.yi = rho*self.yi + ki*dt * err
+        yd = kd/dt*(err - self.err)
+        yp = kp * err
 
         # Reset yi on error sign changes
-        if np.sign(err) != np.sign(self.err):
-            _yi = 0
+        if yp > self.y_max or yp < self.y_min:
+            self.yi = 0
 
-        y = _yp + _yi + _yd
+        self.err = err
+
+        y = yp + self.yi + yd
 
         self.y = max(self.y_min, min(self.y_max, y))
-        print("y = {}".format(_yi))
-        self.yi = yi
-        self.err = err
+        print("yi = {}".format(self.yi))
 
     def get_y(self):
         return self.y