pid has enable status

1 files changed, 12 insertions, 2 deletions

diff --git a/qolab/feedback/__init__.py b/qolab/feedback/__init__.py
index ee35f62..e92df18 100644
--- a/qolab/feedback/__init__.py
+++ b/qolab/feedback/__init__.py
@@ -7,11 +7,12 @@ class PID(BasicInstrument):
         self.config['Device model'] = 'Generic Software PID loop'
         self.config['Device type']='PID loop'
         self.config['FnamePrefix'] = 'pid'
-        self.deviceProperties = ['Gp', 'Gi', 'Gd', 'Sign' ];
+        self.deviceProperties = ['Gp', 'Gi', 'Gd', 'Sign', 'Enable' ];
         self.Gp = Gp
         self.Gi = Gi
         self.Gd = Gd
         self.sign = sign
+        self.enable = True
 
         self.reset()
 
@@ -39,6 +40,12 @@ class PID(BasicInstrument):
     def setSign(self,val):
         self.sign=val
 
+    def getEnable(self):
+        return self.enable
+
+    def setEnable(self,val):
+        self.enable=val
+
     
     def reset(self):
         self.err_1dt_back = 0
@@ -61,5 +68,8 @@ class PID(BasicInstrument):
         A2= self.Gd/dt;
 
         u = A0*self.err_now + A1*self.err_1dt_back + A2*self.err_2dt_back;
-        return u*self.sign
+        u *= self.sign
+        if not self.enable:
+            return 0
+        return u