common module

class common.PID(kp, kd, ki)

Bases: object

The PID controller for the inverted pendulum

run(desired_value=0, measured_value=0)

Computing the PID controller

Parameters

• desired_value – (int) desired_value = 0 by default

• measured_value – (int) measured_value = 0 by default

Returns

(int) pid controller output value

common.main()

An example of the use of the PID class with live plot on Matplotlib