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Small cleanup (#275)

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* mass unit conversions

* flat/explicit conditions

* fix typos

* remove hardcode

* Update README.md

* Update carcontroller.py
This commit is contained in:
dekerr
2018-06-28 15:33:54 -04:00
committed by rbiasini
parent 16132b3aaa
commit 6cdc2a8bc7
11 changed files with 18 additions and 20 deletions
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selfdrive/controls/lib/pid.py
+1 -1
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@@ -13,7 +13,7 @@ def apply_deadzone(error, deadzone):
class PIController(object):
def __init__(self, k_p, k_i, k_f=1., pos_limit=None, neg_limit=None, rate=100, sat_limit=0.8, convert=None):
self._k_p = k_p # proportional gain
self._k_i = k_i # integrale gain
self._k_i = k_i # integral gain
self.k_f = k_f # feedforward gain
self.pos_limit = pos_limit