class Pid:
    def __init__(self, params):
        self.params = params
        self.k = 1.0

        # Integrator
        self.yi = 0

        # Differentiator
        self.d = 0

        # Anti windup
        self.y_min = -1.0
        self.y_max = 1.0
        self.awu = 0

        # Output
        self.y = 0

    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 reset(self):
        self.yi = 0
        self.d = 0
        self.awu = 0

    def process(self, err, d):
        dt = self.params['dt']
        kp = self.params['kp'] * self.k
        ki = self.params['ki'] * self.k
        kd = self.params['kd'] * self.k
        kt = self.params['kt'] * self.k

        self.yi = self.yi + ki*dt * err + kt*dt * self.awu
        yd = kd/dt*(d - self.d)
        yp = kp * err

        self.d = d

        y = yp + self.yi + yd

        self.y = max(self.y_min, min(self.y_max, y))

        # Anti windup
        self.awu = self.y - y

    def get_y(self):
        return self.y