<s> class PID ( object ) : <EOL> def __init__ ( self ) : <EOL> """<STR_LIT>""" <EOL> self . kd = <NUM_LIT:0> <EOL> self . ki = <NUM_LIT:0> <EOL> self . kp = <NUM_LIT:1> <EOL> self . previous_error = <NUM_LIT:0> <EOL> self . integral_error = <NUM_LIT:0> <EOL> def set_k_values ( self , kp , kd , ki ) : <EOL> self . kp = kp <EOL> self . ki = ki <EOL> self . kd = kd <EOL> def clear_error ( self ) : <EOL> self . previous_error = <NUM_LIT:0> <EOL> self . integeral_error = <NUM_LIT:0> <EOL> def pid ( self , target , process_var , timestep ) : <EOL> current_error = ( target - process_var ) <EOL> p_error = self . kp * current_error <EOL> d_error = self . kd * ( current_error - self . previous_error ) / timestep <EOL> self . integral_error = ( <EOL> current_error + self . previous_error ) / <NUM_LIT:2> + self . integral_error <EOL> i_error = self . ki * self . integral_error <EOL> total_error = p_error + d_error + i_error <EOL> self . previous_error = current_error <EOL> return total_error </s>
