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infiniteCable2
32 lines
1.2 KiB
Python
32 lines
1.2 KiB
Python
from openpilot.common.pid import PIDController
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import numpy as np
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class MultiplicativeUnwindPID(PIDController):
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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):
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super().__init__(k_p, k_i, k_f=k_f, k_d=k_d, pos_limit=pos_limit, neg_limit=neg_limit, rate=rate)
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self.i_unwind_rate = 0.3 / rate
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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.i *= (1.0 - self.i_unwind_rate)
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if abs(self.i) < 1e-10:
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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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i = self.i + error * self.k_i * self.i_rate
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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 |