def __init__(self,p_term=1,i_term=0.3,d_term=0.06,Dv_constant=0.4,ideal_angle=0.9):
self.pid_adjustment=PID(P=p_term,I=i_term,D=d_term)
self.sail=0
self.maxsail=math.pi/12*5
self.Dv_constant=Dv_constant
self.ideal_angle=ideal_angle
def __init__(self):
self.command_generator = PID(P=0.8, I=0.2, D=0.1)
self.rudder = 0
self.maxrudder = math.pi / 4 ##max angle of rudder
self.command_generator.setBoundary(self.maxrudder, -self.maxrudder)
self.sign_signal = 1