Controller.py

class PIController:
    def __init__(self):
        
        #Maintain a History of Variables
        self.yHist = []
        self.tHist = []
        self.uHist = []
        self.eSum = 0
        
    def initialize(self):
        
        #Initialize the graph
        self.fig, = plt.plot(self.tHist,self.yHist)
        plt.xlim(0,10)
        plt.ylim(0,20)
        plt.ylabel("Plant Output")
        plt.xlabel("Time(s)")
        plt.title("Plant Response")
        
    def updateGraph(self):
        # Update the Graph
        self.fig.set_xdata(self.tHist)
        self.fig.set_ydata(self.yHist)
        plt.pause(0.1)
        plt.show()
    
    
    
    def getControlEffort(self,yHist,tHist):
        
        # Returns control action based on past outputs
        
        self.yHist = yHist
        self.tHist = tHist
        
        self.updateGraph()
        
        
        
        if(type(self.yHist) == float):
            y = self.yHist
        else:
            y = self.yHist[-1][0]
        
        # Set Point is 10
        e = 10-y
        
        self.eSum += e
        u = 1*e + 0.001*self.eSum
        
        print(y)
        self.uHist.append(u)
        return u