def run(self):
'''Update the progress bar based on a PID controller
'''
delta = 0.0001
controller = PID.Controller(self.desired_speed)
self.running = True
while self.running:
s = time.time()
self.current_position = sp.Gauges.find_speed(self)[0]
self.current_position *= controller.calculate(
self.current_position, delta)
#setting upper and lower bounds for the throttle commanded values
if self.current_position < 0:
self.current_position = 0
elif self.current_position > 100:
self.current_position = 100
#emit a signal for the throttle position, would probably be read
#from the encoder on the stepper motor
self.throttle_position.emit(self.current_position)
time.sleep(0.1)
delta = time.time() - s
self.throttle_position.emit(0)
