pid_controller.py

class PIController:
    def __init__(self, proportional_constant=0, integral_constant=0):
        self.proportional_constant = proportional_constant
        self.integral_constant = integral_constant
        # Running sums
        self.integral_sum = 0
    def handle_proportional(self,error):
      return self.proportional_constant * error
    def handle_integral(self,error):
      self.integral_sum += error
      return self.integral_constant * error
    def get_value(self,error):
      p=self.handle_proportional(error)
      i=self.handle_integral(error)
      return p+i