From 745bd2bff57c1762cbbc1b53ae702ec587e4b8b3 Mon Sep 17 00:00:00 2001
From: TahmidSwad <swad2408@gmail.com>
Date: Fri, 28 Mar 2025 09:07:28 +0600
Subject: [PATCH 1/7] Add PID controller implementation
---
control_algorithms/pid.py | 55 +++++++++++++++++++++++++++++++++++++++
1 file changed, 55 insertions(+)
create mode 100644 control_algorithms/pid.py
diff --git a/control_algorithms/pid.py b/control_algorithms/pid.py
new file mode 100644
index 000000000000..5ac2ab6a77a5
--- /dev/null
+++ b/control_algorithms/pid.py
@@ -0,0 +1,55 @@
+"""
+A Proportional-Integral-Derivative (PID) controller is a control loop mechanism that calculates an error
+value as the difference between a desired setpoint and a measured process variable.
+
+It applies proportional, integral, and derivative corrections to minimize the error over time.
+
+Refer - https://en.wikipedia.org/wiki/PID_controller
+"""
+
+
+class pid:
+
+ def __init__(self, Kp: float, Ki: float, Kd: float, setpoint: float = 0):
+ """
+ Initialize the PID controller.
+
+ :param Kp: Proportional gain
+ :param Ki: Integral gain
+ :param Kd: Derivative gain
+ :param setpoint: Desired target value
+ """
+ self.Kp = Kp
+ self.Ki = Ki
+ self.Kd = Kd
+ self.setpoint = setpoint
+
+ self.integral = 0
+ self.previous_error = 0
+
+ def compute(self, measured_value: float, dt: float) -> float:
+ """
+ Compute the control signal based on the error.
+
+ :param measured_value: The current process variable
+ :param dt: Time difference since the last update
+ :return: Control output
+ """
+ error = self.setpoint - measured_value
+ self.integral += error * dt if error != 0 else 0
+ derivative = (error - self.previous_error) / dt if dt > 0 else 0
+
+ output = (self.Kp * error) + (self.Ki * self.integral) + (self.Kd * derivative)
+ self.previous_error = error
+ return output
+
+ def reset(self):
+ """Reset the integral and previous error values."""
+ self.integral = 0
+ self.previous_error = 0
+
+
+if __name__ == "__main__":
+ import doctest
+
+ doctest.testmod()
From 588538eaddcee6fa4733a1775487123c0ed09a43 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 28 Mar 2025 03:26:36 +0000
Subject: [PATCH 2/7] [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
---
control_algorithms/pid.py | 1 -
1 file changed, 1 deletion(-)
diff --git a/control_algorithms/pid.py b/control_algorithms/pid.py
index 5ac2ab6a77a5..36974dbfc125 100644
--- a/control_algorithms/pid.py
+++ b/control_algorithms/pid.py
@@ -9,7 +9,6 @@
class pid:
-
def __init__(self, Kp: float, Ki: float, Kd: float, setpoint: float = 0):
"""
Initialize the PID controller.
From 7708d3c08d8e797d5f99439245eb4ade8a26c6ee Mon Sep 17 00:00:00 2001
From: TahmidSwad <swad2408@gmail.com>
Date: Fri, 28 Mar 2025 09:35:10 +0600
Subject: [PATCH 3/7] Add PID controller implementation
---
control_algorithms/__init__.py | 0
control_algorithms/pid.py | 25 ++++++++++++++-----------
2 files changed, 14 insertions(+), 11 deletions(-)
create mode 100644 control_algorithms/__init__.py
diff --git a/control_algorithms/__init__.py b/control_algorithms/__init__.py
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/control_algorithms/pid.py b/control_algorithms/pid.py
index 5ac2ab6a77a5..d043c0c76686 100644
--- a/control_algorithms/pid.py
+++ b/control_algorithms/pid.py
@@ -1,16 +1,19 @@
"""
-A Proportional-Integral-Derivative (PID) controller is a control loop mechanism that calculates an error
-value as the difference between a desired setpoint and a measured process variable.
+A Proportional-Integral-Derivative (PID) controller
+is a control loop mechanism that calculates an error
+value as the difference between a desired setpoint
+and a measured process variable.
-It applies proportional, integral, and derivative corrections to minimize the error over time.
+It applies proportional, integral, and derivative
+corrections to minimize the error over time.
Refer - https://en.wikipedia.org/wiki/PID_controller
"""
-class pid:
+class PID:
- def __init__(self, Kp: float, Ki: float, Kd: float, setpoint: float = 0):
+ def __init__(self, kp: float, ki: float, kd: float, setpoint: float = 0):
"""
Initialize the PID controller.
@@ -19,9 +22,9 @@ def __init__(self, Kp: float, Ki: float, Kd: float, setpoint: float = 0):
:param Kd: Derivative gain
:param setpoint: Desired target value
"""
- self.Kp = Kp
- self.Ki = Ki
- self.Kd = Kd
+ self.kp = kp
+ self.ki = ki
+ self.kd = kd
self.setpoint = setpoint
self.integral = 0
@@ -39,14 +42,14 @@ def compute(self, measured_value: float, dt: float) -> float:
self.integral += error * dt if error != 0 else 0
derivative = (error - self.previous_error) / dt if dt > 0 else 0
- output = (self.Kp * error) + (self.Ki * self.integral) + (self.Kd * derivative)
+ output = (self.kp * error) + (self.ki * self.integral) + (self.kd * derivative)
self.previous_error = error
return output
def reset(self):
"""Reset the integral and previous error values."""
- self.integral = 0
- self.previous_error = 0
+ self.integral = 0.0
+ self.previous_error = 0.0
if __name__ == "__main__":
From dfb637b3310f71716e008ced4489e24d9bdb5dd5 Mon Sep 17 00:00:00 2001
From: TahmidSwad <swad2408@gmail.com>
Date: Fri, 28 Mar 2025 09:44:32 +0600
Subject: [PATCH 4/7] Add PID controller implementation
---
control_algorithms/pid.py | 6 ------
1 file changed, 6 deletions(-)
diff --git a/control_algorithms/pid.py b/control_algorithms/pid.py
index 7947ae9cf756..a90d9cf473c2 100644
--- a/control_algorithms/pid.py
+++ b/control_algorithms/pid.py
@@ -11,14 +11,8 @@
"""
-<<<<<<< HEAD
-class PID:
-
- def __init__(self, kp: float, ki: float, kd: float, setpoint: float = 0):
-=======
class pid:
def __init__(self, Kp: float, Ki: float, Kd: float, setpoint: float = 0):
->>>>>>> 588538eaddcee6fa4733a1775487123c0ed09a43
"""
Initialize the PID controller.
From 8b6dc3d1e37d36fb89f0ede4316da739196ec65f Mon Sep 17 00:00:00 2001
From: TahmidSwad <swad2408@gmail.com>
Date: Fri, 28 Mar 2025 09:48:45 +0600
Subject: [PATCH 5/7] Add PID controller implementation
---
control_algorithms/pid.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/control_algorithms/pid.py b/control_algorithms/pid.py
index a90d9cf473c2..8cf9ffa2bf89 100644
--- a/control_algorithms/pid.py
+++ b/control_algorithms/pid.py
@@ -11,7 +11,7 @@
"""
-class pid:
+class PID:
def __init__(self, Kp: float, Ki: float, Kd: float, setpoint: float = 0):
"""
Initialize the PID controller.
From 1a90c8e420aaadccc86f16e109e42cf9121a40ff Mon Sep 17 00:00:00 2001
From: TahmidSwad <swad2408@gmail.com>
Date: Fri, 28 Mar 2025 09:50:29 +0600
Subject: [PATCH 6/7] Add PID controller implementation
---
control_algorithms/pid.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/control_algorithms/pid.py b/control_algorithms/pid.py
index 8cf9ffa2bf89..e7229b8baa18 100644
--- a/control_algorithms/pid.py
+++ b/control_algorithms/pid.py
@@ -12,7 +12,7 @@
class PID:
- def __init__(self, Kp: float, Ki: float, Kd: float, setpoint: float = 0):
+ def __init__(self, kp: float, ki: float, kd: float, setpoint: float = 0):
"""
Initialize the PID controller.
From 12d7359aace0b73c6ef0cd32cdc359dcd1b1ec3f Mon Sep 17 00:00:00 2001
From: TahmidSwad <swad2408@gmail.com>
Date: Fri, 28 Mar 2025 09:55:22 +0600
Subject: [PATCH 7/7] Add PID controller implementation
---
control_algorithms/pid.py | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/control_algorithms/pid.py b/control_algorithms/pid.py
index e7229b8baa18..2ca26e90fe47 100644
--- a/control_algorithms/pid.py
+++ b/control_algorithms/pid.py
@@ -12,7 +12,7 @@
class PID:
- def __init__(self, kp: float, ki: float, kd: float, setpoint: float = 0):
+ def __init__(self, kp: float, ki: float, kd: float, setpoint: float = 0.0):
"""
Initialize the PID controller.
@@ -26,8 +26,8 @@ def __init__(self, kp: float, ki: float, kd: float, setpoint: float = 0):
self.kd = kd
self.setpoint = setpoint
- self.integral = 0
- self.previous_error = 0
+ self.integral = 0.0
+ self.previous_error = 0.0
def compute(self, measured_value: float, dt: float) -> float:
"""
@@ -38,8 +38,8 @@ def compute(self, measured_value: float, dt: float) -> float:
:return: Control output
"""
error = self.setpoint - measured_value
- self.integral += error * dt if error != 0 else 0
- derivative = (error - self.previous_error) / dt if dt > 0 else 0
+ self.integral += error * dt if error != 0 else 0.0
+ derivative = (error - self.previous_error) / dt if dt > 0 else 0.0
output = (self.kp * error) + (self.ki * self.integral) + (self.kd * derivative)
self.previous_error = error