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https://github.com/infiniteCable2/openpilot.git
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infiniteCable2
141 lines
4.1 KiB
Python
141 lines
4.1 KiB
Python
import numpy as np
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from numbers import Number
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class PIDController:
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def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
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self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
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self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
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self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
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self.set_limits(pos_limit, neg_limit)
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self.i_dt = 1.0 / rate
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self.speed = 0.0
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self.reset()
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@property
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def k_p(self):
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return np.interp(self.speed, self._k_p[0], self._k_p[1])
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@property
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def k_i(self):
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return np.interp(self.speed, self._k_i[0], self._k_i[1])
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@property
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def k_d(self):
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return np.interp(self.speed, self._k_d[0], self._k_d[1])
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def reset(self):
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self.p = 0.0
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self.i = 0.0
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self.d = 0.0
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self.f = 0.0
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self.control = 0
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def set_limits(self, pos_limit, neg_limit):
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self.pos_limit = pos_limit
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self.neg_limit = neg_limit
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def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
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self.speed = speed
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self.p = self.k_p * float(error)
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self.d = self.k_d * error_rate
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self.f = feedforward
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if not freeze_integrator:
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i = self.i + self.k_i * self.i_dt * error
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# Don't allow windup if already clipping
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test_control = self.p + i + self.d + self.f
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i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
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i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
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self.i = np.clip(i, i_lowerbound, i_upperbound)
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control = self.p + self.i + self.d + self.f
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self.control = np.clip(control, self.neg_limit, self.pos_limit)
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return self.control
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class MultiplicativeUnwindPID:
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def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100, min_cmd=1e-10, ki_red_time=1.0):
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if isinstance(k_p, Number):
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k_p = [[0], [k_p]]
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if isinstance(k_i, Number):
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k_i = [[0], [k_i]]
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if isinstance(k_d, Number):
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k_d = [[0], [k_d]]
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self._k_p = k_p
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self._k_i = k_i
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self._k_d = k_d
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self.k_f = float(k_f)
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self.pos_limit = pos_limit
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self.neg_limit = neg_limit
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self.rate = float(rate)
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self.i_dt = 1.0 / rate
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self.min_cmd = abs(min_cmd)
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self.ki_red_time = float(ki_red_time)
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self.override_prev = False
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self.i_unwind_factor = 1.0
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self.speed = 0.0
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self.reset()
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@property
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def k_p(self):
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return np.interp(self.speed, self._k_p[0], self._k_p[1])
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@property
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def k_i(self):
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return np.interp(self.speed, self._k_i[0], self._k_i[1])
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@property
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def k_d(self):
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return np.interp(self.speed, self._k_d[0], self._k_d[1])
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def reset(self):
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self.p = 0.0
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self.i = 0.0
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self.d = 0.0
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self.f = 0.0
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self.control = 0
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def _calc_unwind_factor(self, override):
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if not override or self.override_prev:
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return
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if self.ki_red_time <= 0.0:
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self.i_unwind_factor = 1.0
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return
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if abs(self.i) <= self.min_cmd:
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self.i_unwind_factor = 0.0
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return
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steps = max(int(self.ki_red_time * self.rate), 1)
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factor = (self.min_cmd / abs(self.i)) ** (1.0 / steps)
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self.i_unwind_factor = min(factor, 1.0)
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def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
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self.speed = speed
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self.p = float(error) * self.k_p
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self.f = feedforward * self.k_f
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self.d = error_rate * self.k_d
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if override:
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self._calc_unwind_factor(override)
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self.i *= self.i_unwind_factor
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if abs(self.i) < self.min_cmd:
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self.i = 0.0
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else:
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if not freeze_integrator:
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self.i = self.i + error * self.k_i * self.i_dt
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# Clip i to prevent exceeding control limits
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control_no_i = self.p + self.d + self.f
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control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
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self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
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control = self.p + self.i + self.d + self.f
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self.control = np.clip(control, self.neg_limit, self.pos_limit)
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self.override_prev = override
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return self.control
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