s2.Kp = 5 s2.Ki = 16 s2.Kd = 3 s2.Ts = 0.002 # they all must be the same!!! s2.Tt = 1 / s1.Ki s2.YMin = 0 s2.YMax = 10 # PID parameters using each individual setting params = PIDParameters() params.setSettings([s1, s2]) params.wrap = False params.saturate = True params.integration_method = IntegrationMethod.TUSTIN # configure PID instance controller = PID() controller.configParameters(params) # ... code is running ... # ... inside a mainloop to update the controller ... ctrl_in = PIDInput() ctrl_in.time = LinearSystem.getTimeFromSeconds(0.2) ctrl_in.ref = [0.1, 0.2] ctrl_in.sig = [0.3, 0.4] ctrl_in.dref = [0, 0] ctrl_in.dsig = [0, 0] ctrl_in.sat = [0, 0] # last PID output after saturation out = controller.update(ctrl_in) print(out.getValue())
