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more ty, part 2 (#38379)

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This commit is contained in:
Adeeb Shihadeh
2026-07-19 11:02:00 -07:00
committed by GitHub
parent 19ecc37de8
commit f0d93eb32d
57 changed files with 194 additions and 165 deletions
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openpilot/common/pid.py
+7 -5
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@@ -1,11 +1,13 @@
import numpy as np
from numbers import Number
from collections.abc import Sequence
Gain = int | float | tuple[Sequence[float], Sequence[float]] | list[list[float]]
class PIDController:
def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
def __init__(self, k_p: Gain, k_i: Gain, k_d: Gain = 0., pos_limit=1e308, neg_limit=-1e308, rate=100):
self._k_p = ([0], [k_p]) if isinstance(k_p, (int, float)) else k_p
self._k_i = ([0], [k_i]) if isinstance(k_i, (int, float)) else k_i
self._k_d = ([0], [k_d]) if isinstance(k_d, (int, float)) else k_d
self.set_limits(pos_limit, neg_limit)