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No longer update PID derivative if timestep is 0 #124

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No longer update PID derivative if timestep is 0 #124

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9 changes: 6 additions & 3 deletions XRPLib/pid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@ def __init__(self,

self.prev_error = 0
self.prev_integral = 0
self.prev_derivative = 0
self.prev_output = 0

self.start_time = None
Expand Down Expand Up @@ -84,10 +85,11 @@ def update(self, error: float, debug: bool = False) -> float:
if self.max_integral is not None:
integral = max(-self.max_integral, min(self.max_integral, integral))

derivative = (error - self.prev_error) / timestep
if timestep != 0:
self.prev_derivative = (error - self.prev_error) / timestep

# derive output
output = self.kp * error + self.ki * integral + self.kd * derivative
output = self.kp * error + self.ki * integral + self.kd * self.prev_derivative
self.prev_error = error
self.prev_integral = integral

Expand All @@ -110,7 +112,7 @@ def update(self, error: float, debug: bool = False) -> float:
self.prev_output = output

if debug:
print(f"{output}: ({self.kp * error}, {self.ki * integral}, {self.kd * derivative})")
print(f"{output}: ({self.kp * error}, {self.ki * integral}, {self.kd * self.prev_derivative})")

return output

Expand All @@ -124,6 +126,7 @@ def is_done(self) -> bool:
def clear_history(self):
self.prev_error = 0
self.prev_integral = 0
self.prev_derivative = 0
self.prev_output = 0
self.prev_time = None
self.times = 0