# Path: pid/test/pid_1.py
# class PID:
#     _kp = _ki = _kd = _integrator = _imax = 0
#     _last_error = _last_derivative = _last_t = 0
#     _RC = 1/(2 * pi * 20)  # low pass filter at 20Hz
# 
#     def __init__(self, p=0, i=0, d=0, imax=0):
#         self._kp = float(p)
#         self._ki = float(i)
#         self._kd = float(d)
#         self._imax = abs(imax)
#         self._last_derivative = float('nan')
# 
#     def get_pid(self, current, desired, scaler=1):
# 
#         error = desired - current
# 
#         tnow = int(round(time.time() * 1000))
# 
#         dt = tnow-self._last_t
#         output = 0
#         if self._last_t == 0 or dt > 1000:
#             dt = 0
#             self.reset_I()
#         self._last_t = tnow
#         delta_time = float(dt) / float(1000)
#         output += error * self._kp
# 
#         if abs(self._kd) > 0 and dt > 0:
#             if isnan(self._last_derivative):
#                 derivative = 0
#                 self._last_derivative = 0
#             else:
#                 derivative = (error - self._last_error) / delta_time
# 
#             derivative = self._last_derivative + \
#                          ((delta_time / (self._RC + delta_time))*(derivative - self._last_derivative))
#             self._last_error = error
#             self._last_derivative = derivative
#             output += self._kd * derivative
#         output *= scaler
# 
#         if abs(self._ki) > 0 and dt > 0:
#             self._integrator += (error * self._ki) * scaler * delta_time
#             if self._integrator < -self._imax:
#                 self._integrator = -self._imax
#             elif self._integrator > self._imax:
#                 self._integrator = self._imax
#             output += self._integrator
#         return output
# 
#     def reset_I(self):
#         self._integrator = 0
#         self._last_derivative = float('nan')
# 
#     def update_pid_settings(self, kp, ki, kd, max):
#         self._kp = kp
#         self._ki = ki
#         self._kd = kd
#         self._imax = max
#         self.reset_I()


from pid.test.pid_1 import PID

test_data = {
    1: [0, 0],
    2: [2, 0],
    3: [4, 10],
    4: [2, -5],
    5: [-20, -50],
    6: [-5, 10],
    7: [0, 5],
    8: [30, 20],
    9: [10, -10],
    10: [0, 0]
}

_stab_Kp = 4
_stab_Kd = 0.1
_stab_Ki = 1
_gyro_Kp = 0.7
_gyro_Kd = 0
_gyro_Ki = 1
_max_increment = 50
_max_gyro_increment = 50

pid1 = PID(p=_stab_Kp, i=_stab_Ki, d=_stab_Kd, imax=_max_increment)
pid2 = PID(p=_gyro_Kp, i=_gyro_Ki, d=_gyro_Kd, imax=_max_gyro_increment)
pid3 = PID(p=_stab_Kp, i=_stab_Ki, d=_stab_Kd, imax=_max_increment)

# Path: pid/test/pid_1.py
# class PID:
#     _kp = _ki = _kd = _integrator = _imax = 0
#     _last_error = _last_derivative = _last_t = 0
#     _RC = 1/(2 * pi * 20)  # low pass filter at 20Hz
# 
#     def __init__(self, p=0, i=0, d=0, imax=0):
#         self._kp = float(p)
#         self._ki = float(i)
#         self._kd = float(d)
#         self._imax = abs(imax)
#         self._last_derivative = float('nan')
# 
#     def get_pid(self, current, desired, scaler=1):
# 
#         error = desired - current
# 
#         tnow = int(round(time.time() * 1000))
# 
#         dt = tnow-self._last_t
#         output = 0
#         if self._last_t == 0 or dt > 1000:
#             dt = 0
#             self.reset_I()
#         self._last_t = tnow
#         delta_time = float(dt) / float(1000)
#         output += error * self._kp
# 
#         if abs(self._kd) > 0 and dt > 0:
#             if isnan(self._last_derivative):
#                 derivative = 0
#                 self._last_derivative = 0
#             else:
#                 derivative = (error - self._last_error) / delta_time
# 
#             derivative = self._last_derivative + \
#                          ((delta_time / (self._RC + delta_time))*(derivative - self._last_derivative))
#             self._last_error = error
#             self._last_derivative = derivative
#             output += self._kd * derivative
#         output *= scaler
# 
#         if abs(self._ki) > 0 and dt > 0:
#             self._integrator += (error * self._ki) * scaler * delta_time
#             if self._integrator < -self._imax:
#                 self._integrator = -self._imax
#             elif self._integrator > self._imax:
#                 self._integrator = self._imax
#             output += self._integrator
#         return output
# 
#     def reset_I(self):
#         self._integrator = 0
#         self._last_derivative = float('nan')
# 
#     def update_pid_settings(self, kp, ki, kd, max):
#         self._kp = kp
#         self._ki = ki
#         self._kd = kd
#         self._imax = max
#         self.reset_I()


# Path: pid/test/test_pid.py
from pid.test.pid_1 import PID


test_data = {
    1: [0, 0],
    2: [2, 0],
    3: [4, 10],
    4: [2, -5],
    5: [-20, -50],
    6: [-5, 10],
    7: [0, 5],
    8: [30, 20],
    9: [10, -10],
    10: [0, 0]
}

_stab_Kp = 4
_stab_Kd = 0.1
_stab_Ki = 1
_gyro_Kp = 0.7
_gyro_Kd = 0
_gyro_Ki = 1
_max_increment = 50
_max_gyro_increment = 50

pid1 = PID(p=_stab_Kp, i=_stab_Ki, d=_stab_Kd, imax=_max_increment)
pid2 = PID(p=_gyro_Kp, i=_gyro_Ki, d=_gyro_Kd, imax=_max_gyro_increment)
pid3 = PID(p=_stab_Kp, i=_stab_Ki, d=_stab_Kd, imax=_max_increment)

pid4 = PID(p=_gyro_Kp, i=_gyro_Ki, d=_gyro_Kd, imax=_max_gyro_increment)