gistfile1.txt

class PIDController:
    def __init__(self, Kp, Ki, Kd, setpoint, dt, output_bias, output_limits=(None, None)):
        self.Kp = Kp
        self.Ki = Ki
        self.Kd = Kd
        self.setpoint = setpoint
        self.dt = dt
        self.output_min, self.output_max = output_limits
        self.integral = 0.0
        self.prev_pv = 0.0  # Previous process variable
        self.output_bias = output_bias

    def compute(self, process_variable):
        pv = process_variable["Port Primary Weld Current"] + process_variable["Starboard Primary Weld Current"]
        displacement_index = int(process_variable["Displacement Index"])

        # Proportional term
        if 36 < displacement_index:
            displacement_index = 36

        error = self.setpoint - (pv)

        # Proportional term
        proportional = self.Kp.iloc[displacement_index]["Kp"] * error

        # Derivative term (using PV to avoid derivative kick)
        derivative = -self.Kd.iloc[displacement_index]["Kd"] * (pv - self.prev_pv) / self.dt

        # Calculate raw output
        raw_output = proportional + self.integral + derivative + self.output_bias

        # Clamp the output
        output = raw_output
        clamped = False
        if self.output_min is not None and output < self.output_min:
            output = self.output_min
            clamped = True
        elif self.output_max is not None and output > self.output_max:
            output = self.output_max
            clamped = True

        # Update integral only if not clamped
        if not clamped:
            self.integral += self.Ki * error * self.dt

        # Save current PV for next derivative calculation
        self.prev_pv = pv

        return output