pid算法(python代码

import time

timeTemp = time.time()

class PidTool:
    def __init__(self):
        self.p = 0
        self.i = 0
        self.d = 0

        self.e = 0
        self.iTemp = 0
        self.dTemp = self.e

    def setP(self, val):
        self.p = val

    def setI(self, val):
        self.i = val

    def setD(self, val):
        self.d = val

    def toolInput(self, val):
        self.e = val
        self.Dt = timeTool()

    def toolOut(self):
        self.iTemp = self.iTemp + self.i * self.e * self.Dt
        self.dTemp = self.dTemp - self.e
        out = ( self.e * self.p ) + ( self.iTemp ) + ( ( self.dTemp * self.d ) / self.Dt )
        return out

def timeTool():
    global timeTemp
    out = time.time() - timeTemp
    timeTemp = time.time()
    return out