In this section, we'll build a Python application to implement a PID controller. In general, our program flowchart can be described as follows:
We should not build a PID library from scratch. You can translate the PID controller formula into Python code easily. For implementation, I'm using the PID class from https://github.com/ivmech/ivPID. The following the PID.py file:
import time class PID: """PID Controller """ def __init__(self, P=0.2, I=0.0, D=0.0): self.Kp = P self.Ki = I self.Kd = D self.sample_time = 0.00 self.current_time = time.time() self.last_time = self.current_time self.clear() ...
