From edf63276f213367a8ab73356a854c46e21024b27 Mon Sep 17 00:00:00 2001
From: lzbsuzhou <18816292771@163.com>
Date: Sat, 1 Sep 2018 23:19:15 +0800
Subject: [PATCH 1/2] change the computing method of PTerm in PID.py and do
 some changes the test file

---
 PID.py                         |   4 +++-
 __pycache__/PID.cpython-36.pyc | Bin 0 -> 3483 bytes
 test_pid.py                    |   9 +++++----
 3 files changed, 8 insertions(+), 5 deletions(-)
 create mode 100644 __pycache__/PID.cpython-36.pyc

diff --git a/PID.py b/PID.py
index 6eef0f7..0cdca77 100644
--- a/PID.py
+++ b/PID.py
@@ -79,6 +79,8 @@ def update(self, feedback_value):
         delta_time = self.current_time - self.last_time
         delta_error = error - self.last_error
 
+        self.PTerm = self.Kp * error
+
         if (delta_time >= self.sample_time):
             self.PTerm = self.Kp * error
             self.ITerm += error * delta_time
@@ -96,7 +98,7 @@ def update(self, feedback_value):
             self.last_time = self.current_time
             self.last_error = error
 
-            self.output = self.PTerm + (self.Ki * self.ITerm) + (self.Kd * self.DTerm)
+        self.output = self.PTerm + (self.Ki * self.ITerm) + (self.Kd * self.DTerm)
 
     def setKp(self, proportional_gain):
         """Determines how aggressively the PID reacts to the current error with setting Proportional Gain"""
diff --git a/__pycache__/PID.cpython-36.pyc b/__pycache__/PID.cpython-36.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..a97f9196a0aa3c10a22ee51018e175b5ab80feb8
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diff --git a/test_pid.py b/test_pid.py
index 761f261..565c870 100644
--- a/test_pid.py
+++ b/test_pid.py
@@ -50,7 +50,7 @@ def test_pid(P = 0.2,  I = 0.0, D= 0.0, L=100):
     pid = PID.PID(P, I, D)
 
     pid.SetPoint=0.0
-    pid.setSampleTime(0.01)
+    pid.setSampleTime(0.1)
 
     END = L
     feedback = 0
@@ -66,7 +66,7 @@ def test_pid(P = 0.2,  I = 0.0, D= 0.0, L=100):
             feedback += (output - (1/i))
         if i>9:
             pid.SetPoint = 1
-        time.sleep(0.02)
+        time.sleep(0.01)
 
         feedback_list.append(feedback)
         setpoint_list.append(pid.SetPoint)
@@ -90,5 +90,6 @@ def test_pid(P = 0.2,  I = 0.0, D= 0.0, L=100):
     plt.show()
 
 if __name__ == "__main__":
-    test_pid(1.2, 1, 0.001, L=50)
-#    test_pid(0.8, L=50)
\ No newline at end of file
+    test_pid(0.5, 0.1, 0.001, L=200)
+    test_pid(1, 0.1, 0.001, L=200)
+    test_pid(1, 0.5, 0.001, L=200)
\ No newline at end of file

From 65b2956d79ff67bf6fae45ff59fc79d7950a64e0 Mon Sep 17 00:00:00 2001
From: lzbsuzhou <18816292771@163.com>
Date: Sat, 1 Sep 2018 23:24:55 +0800
Subject: [PATCH 2/2] change the computing method of PTerm in PID.py and do
 some changes the test file

---
 PID.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/PID.py b/PID.py
index 0cdca77..5ec4bdf 100644
--- a/PID.py
+++ b/PID.py
@@ -82,7 +82,7 @@ def update(self, feedback_value):
         self.PTerm = self.Kp * error
 
         if (delta_time >= self.sample_time):
-            self.PTerm = self.Kp * error
+            # self.PTerm = self.Kp * error
             self.ITerm += error * delta_time
 
             if (self.ITerm < -self.windup_guard):