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pid_TODO_1.py 253 B
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            e = self.target - x 
            # if self.e_prior == 0 and self.I == 0:
            #     self.e_prior = e
            self.I = self.I + e * self.dt
            u = self.Kp * e + self.Ki * self.I + self.Kd * (e - self.e_prior)/self.dt
            self.e_prior = e