Pid

A PID service allows the tracking and transformation of output in relation to iinput.  This is currently used as one of the tracking strategies in the Tracking service.  Input is sent to PID, a "compute" method is sent and appropriate output is sent to a servo.

References

• Bret Beauregard detailed explanation of PID
• Tuning PID flow diagram
• Original library
• Wikipedia PID controller
• Another great tutorial

Example for develop:

#file : Pid.py edit raw

#########################################
# Pid.py
# categories: pid
# more info @: http://myrobotlab.org/service/Pid
#########################################

import time
import random

pid = runtime.start("test", "Pid")

pid.setPid("pan", 1.0, 0.1, 0.0)
pid.setSetpoint("pan", 320)

pid.setPid("tilt", 1.0, 0.1, 0.0)
pid.setSetpoint("tilt", 240)

for i in range(0,200):

    i = random.randint(200,440)
    pid.compute("pan", i)
    
    i = random.randint(200,440)
    pid.compute("tilt", i)
    
    time.sleep(0.1)