Startup

script/test/TestPID.py

@@ -1,17 +1,14 @@
+from PID import PID
 
-PID = get_context().getClassByName("PID")
-
-
-
-pid=PID(1,1,1);
-
-
+pid=PID(0.1,0,0)
+pid.SetPoint =20.0
+#pid.setOutputLimits(-100, 100)
 while True:
-  sensor = sin.read()
-  target = 30.0
+  sensor = out.read()
+  
   #set some sort of target value
-  output=pid.getOutput(sensor,target);
-  print output
+  pid.update(sensor)
+  print pid.output
   #do something with the output
-  inp.write(output)
+  inp.write(pid.output)
   time.sleep(1.0)