diff options
Diffstat (limited to 'qolab/feedback')
| -rw-r--r-- | qolab/feedback/__init__.py | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/qolab/feedback/__init__.py b/qolab/feedback/__init__.py index c778b2a..de58d13 100644 --- a/qolab/feedback/__init__.py +++ b/qolab/feedback/__init__.py @@ -7,11 +7,14 @@ class PID: self.Gd = Gd self.sign = sign + self.reset() + + def reset(self): self.err_1dt_back = 0 self.err_2dt_back = 0 self.err_now = 0 self.last_update = time.time() - + def feedback(self, err): # PID feedback # see https://en.wikipedia.org/wiki/PID_controller#Pseudocode |