pid.py

class PID:
    def __init__(self, kp, ki, kd):
        self.kp = kp
        self.ki = ki
        self.kd = kd
        self.acc_e = 0
        self.prev_e = 0
    
    def proportional(self, e):
        return self.kp * e
    
    def integral(self, e):
        self.acc_e = self.acc_e + e
        return self.ki * self.acc_e
    
    def derivative(self, e):
        delta = e - self.prev_e
        self.prev_e = e
        return self.kd * delta
    
    def calculate(self, e):
        p = self.proportional(e)
        i = self.integral(e)
        d = self.derivative(e)
        u = p + i + d
        return u