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Improve clamping behaviour #97

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Improve clamping behaviour #97

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10 changes: 7 additions & 3 deletions simple_pid/pid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,6 @@ def __call__(self, input_, dt=None):

# Compute integral and derivative terms
self._integral += self.Ki * error * dt
self._integral = _clamp(self._integral, self.output_limits) # Avoid integral windup

if self.differential_on_measurement:
self._derivative = -self.Kd * d_input / dt
Expand All @@ -151,6 +150,7 @@ def __call__(self, input_, dt=None):
# Compute final output
output = self._proportional + self._integral + self._derivative
output = _clamp(output, self.output_limits)
self._integral = output - (self._proportional + self._derivative)

# Keep track of state
self._last_output = output
Expand Down Expand Up @@ -246,9 +246,13 @@ def output_limits(self, limits):

self._min_output = min_output
self._max_output = max_output

self._integral = _clamp(self._integral, self.output_limits)

self._last_output = _clamp(self._last_output, self.output_limits)
if (self._proportional is None) or (self._derivative is None) or (self._last_output is None):
self._integral = _clamp(self._integral, self.output_limits)
else:
self._integral = self._last_output - (self._proportional + self._derivative)


def reset(self):
"""
Expand Down