1 files changed, 33 insertions, 33 deletions

diff --git a/qolab/feedback/__init__.py b/qolab/feedback/__init__.py
index f04a735..6f375ee 100644
--- a/qolab/feedback/__init__.py
+++ b/qolab/feedback/__init__.py
@@ -1,16 +1,18 @@
 import time
 from qolab.hardware.basic import BasicInstrument
 
+
 class PID(BasicInstrument):
     """Proportional–integral–derivative controller.
     Calculates feedback based on gains, time, and previous error signal measurements.
     """
+
     def __init__(self, Gp=0, Gi=0, Gd=0, sign=1, enable=True, *args, **kwds):
         super().__init__(*args, **kwds)
-        self.config['Device model'] = 'Generic Software PID loop'
-        self.config['Device type']='PID loop'
-        self.config['FnamePrefix'] = 'pid'
-        self.deviceProperties.update({'Gp', 'Gi', 'Gd', 'Sign', 'Enable'})
+        self.config["Device model"] = "Generic Software PID loop"
+        self.config["Device type"] = "PID loop"
+        self.config["FnamePrefix"] = "pid"
+        self.deviceProperties.update({"Gp", "Gi", "Gd", "Sign", "Enable"})
         self.setGp(Gp)
         self.setGi(Gi)
         self.setGd(Gd)
@@ -20,83 +22,81 @@ class PID(BasicInstrument):
         self.reset()
 
     def __repr__(self):
-        s = ''
-        s += f'{self.__class__.__name__}('
-        s += f'Gp={self.Gp}'
-        s += f', Gi={self.Gi}'
-        s += f', Gd={self.Gd}'
-        s += f', sign={self.enable}'
-        if self.config['DeviceNickname'] is not None:
+        s = ""
+        s += f"{self.__class__.__name__}("
+        s += f"Gp={self.Gp}"
+        s += f", Gi={self.Gi}"
+        s += f", Gd={self.Gd}"
+        s += f", sign={self.enable}"
+        if self.config["DeviceNickname"] is not None:
             s += ", device_nickname='"
             s += f"{self.config['DeviceNickname']}"
             s += "'"
-        s += ')'
-        return(s)
+        s += ")"
+        return s
 
     @BasicInstrument.tsdb_append
     def getGp(self):
         return self.Gp
 
     @BasicInstrument.tsdb_append
-    def setGp(self,val):
-        self.Gp=val
+    def setGp(self, val):
+        self.Gp = val
 
     @BasicInstrument.tsdb_append
     def getGi(self):
         return self.Gi
 
     @BasicInstrument.tsdb_append
-    def setGi(self,val):
-        self.Gi=val
+    def setGi(self, val):
+        self.Gi = val
 
     @BasicInstrument.tsdb_append
     def getGd(self):
         return self.Gd
 
     @BasicInstrument.tsdb_append
-    def setGd(self,val):
-        self.Gd=val
+    def setGd(self, val):
+        self.Gd = val
 
     @BasicInstrument.tsdb_append
     def getSign(self):
         return self.sign
 
     @BasicInstrument.tsdb_append
-    def setSign(self,val):
-        self.sign=val
+    def setSign(self, val):
+        self.sign = val
 
     @BasicInstrument.tsdb_append
     def getEnable(self):
         return self.enable
 
     @BasicInstrument.tsdb_append
-    def setEnable(self,val):
-        self.enable=val
+    def setEnable(self, val):
+        self.enable = val
 
-    
     def reset(self):
         self.err_1dt_back = 0
         self.err_2dt_back = 0
-        self.err_now      = 0
-        self.last_update  = time.time()
+        self.err_now = 0
+        self.last_update = time.time()
 
     def feedback(self, err):
         # PID feedback
         # see https://en.wikipedia.org/wiki/PID_controller#Pseudocode
-        self.err_2dt_back = self.err_1dt_back;
-        self.err_1dt_back = self.err_now;
+        self.err_2dt_back = self.err_1dt_back
+        self.err_1dt_back = self.err_now
         self.err_now = err
 
         tnow = time.time()
         dt = tnow - self.last_update
         self.last_update = tnow
-        A0= self.Gp+self.Gi*dt + self.Gd/dt;
-        A1= -self.Gp-2*self.Gd/dt;
-        A2= self.Gd/dt;
+        A0 = self.Gp + self.Gi * dt + self.Gd / dt
+        A1 = -self.Gp - 2 * self.Gd / dt
+        A2 = self.Gd / dt
 
-        u = A0*self.err_now + A1*self.err_1dt_back + A2*self.err_2dt_back;
+        u = A0 * self.err_now + A1 * self.err_1dt_back + A2 * self.err_2dt_back
         u *= self.sign
         if not self.enable:
             return 0
         return u
-