pid.diff

diff --git a/pid.txt b/pid.txt
index e453170..3015dbf 100644
--- a/pid.txt
+++ b/pid.txt
@@ -1,6 +1,6 @@
-def _PID_update(self, dt):
+def _Predictive_PID_update(self, dt):
         '''
-        This instantiates the PID control algorithms.
+        This instantiates the Predictive PID control algorithms.
         During the breathing cycle, it goes through the four states:
            1) Rise to PIP, while controlling dP/dt
            2) Sustain PIP pressure
@@ -18,26 +18,22 @@ def _PID_update(self, dt):
         self._DATA_VOLUME += dt * self._DATA_Qout  # Integrate what has happened within the last few seconds from flow out
         self._DATA_PRESSURE = np.mean(self._DATA_PRESSURE_LIST)
 
-
         if cycle_phase < self.__SET_I_PHASE:
-            self.__KP = 2*(self.__SET_PIP_GAIN-0.95)
-            self.__KI = 2.0
+            self.__KP = max(0.5,3*np.exp(-cycle_phase / (0.15*self.__SET_I_PHASE)))
+            self.__KI = 6*(1-np.exp(-cycle_phase / (0.075*self.__SET_I_PHASE)))
             self.__KD = 0
             self.__PID_OFFSET = 0
 
-            self.__get_PID_error(yis = self._DATA_PRESSURE, ytarget = self.__SET_PIP, dt = dt, RC = 0.3)
-            self.__calculate_control_signal_in(dt = dt)
-            self.__control_signal_out = 0
+            self.__control_signal_in = self._adaptivecontroller.feed(self._DATA_PRESSURE, now)
+            self.__control_signal_out = 0                                                        # close out valve
 
         elif cycle_phase < self.__SET_PEEP_TIME + self.__SET_I_PHASE:                                     # then, we drop pressure to PEEP
 
             if PEEP_VALVE_SET:
                 self.__control_signal_in = 0
                 self.__control_signal_out = 1
+
             else:
-                self.__KP = 0.1
-                self.__KI = 2.0
-                self.__KD = 0
                 target_pressure = self.__SET_PIP - (cycle_phase - self.__SET_I_PHASE) * (self.__SET_PIP - self.__SET_PEEP) / self.__SET_PEEP_TIME
                 self.__get_PID_error(yis = self._DATA_PRESSURE, ytarget = target_pressure, dt = dt)
                 self.__calculate_control_signal_in()
@@ -48,12 +44,10 @@ def _PID_update(self, dt):
         elif cycle_phase < self.__SET_CYCLE_DURATION:
 
             if PEEP_VALVE_SET:
+                #self.__control_signal_in = 5                                        # Controlled by mechanical peep valve, gentle flow in
                 self.__control_signal_out = 1
-                self.__control_signal_in = 5 *(1 - np.exp( 5*((self.__SET_PEEP_TIME + self.__SET_I_PHASE) - cycle_phase )) )  # Make this nice and smooth.
+                self.__control_signal_in = 5* (1 - np.exp( 5*((self.__SET_PEEP_TIME + self.__SET_I_PHASE) - cycle_phase )) )
             else:
-                self.__KP = 0.1
-                self.__KI = 2.0
-                self.__KD = 0
                 self.__get_PID_error(yis = self._DATA_PRESSURE, ytarget = self.__SET_PEEP, dt = dt)
                 self.__calculate_control_signal_in()
                 if self._DATA_PRESSURE > self.__SET_PEEP + 0.5:
@@ -61,13 +55,6 @@ def _PID_update(self, dt):
                 else:
                     self.__control_signal_out = 0
 
-            if self._DATA_PRESSURE < self.__SET_PEEP - self.breath_pressure_drop:  #breath!
-                print("Autonomous breath detected; starting next cycle.")
-                self._cycle_start = time.time()  # New cycle starts
-                self._DATA_VOLUME = 0            # ... start at zero volume in the lung
-                self._DATA_dpdt    = 0            # and restart the rolling average for the dP/dt estimation
-                next_cycle = True
-
         else:
             self._cycle_start = time.time()  # New cycle starts
             self._DATA_VOLUME = 0            # ... start at zero volume in the lung