Darklight's reactor pid stuff

reactor.lua

local component = require("component")
local computer = require("computer")

function getPIDObject(kp, ki, kd, minclamp, maxclamp, inputMethod, outputMethod)
    local retObj = {}
    retObj.kp = kp
    retObj.ki = ki
    retObj.kd = kd
    retObj.minclamp = minclamp
    retObj.maxclamp = maxclamp
    retObj.setPoint = 0
    retObj.inputMethod = inputMethod
    retObj.outputMethod = outputMethod
    retObj.outputValue = 0
    retObj.localErrorSum = 0
    retObj.localErrorLast = 0
    retObj.localLastUpdateTime = computer.uptime()
    retObj.debug = false
    retObj.update = function()
        --K component
        local error = retObj.setPoint - retObj.inputMethod()
        local timeChange = computer.uptime() - retObj.localLastUpdateTime
        --D component
        local deriv = 0
        if (timeChange > 0) then
          deriv = (error - retObj.localErrorLast) / timeChange
        end
        if (retObj.debug) then
          print("error: " .. error)
          print("timeChangeL " .. timeChange)
          print("ki: " .. retObj.ki)
        end
        retObj.localErrorSum = retObj.localErrorSum + (error * timeChange * retObj.ki)
        --I component
        if (retObj.localErrorSum > retObj.maxclamp) then
          retObj.localErrorSum = retObj.maxclamp
        end
        if (retObj.localErrorSum < retObj.minclamp) then
          retObj.localErrorSum = retObj.minclamp
        end
        retObj.outputValue = retObj.kp * error + retObj.localErrorSum - kd * deriv
        if (retObj.outputValue > retObj.maxclamp) then
          retObj.outputValue = retObj.maxclamp
        end
        if (retObj.outputValue < retObj.minclamp) then
          retObj.outputValue = retObj.minclamp
        end
        if (retObj.outputMethod ~= nil) then
          if (retObj.debug) then
            print("Outputting " .. retObj.outputValue)
          end
          retObj.outputMethod(retObj.outputValue)
        end
        if (retObj.debug) then
          print("kp: " .. (error * retObj.kp))
          print("ki: " .. retObj.localErrorSum)
          print("kd: " .. deriv * retObj.kd)
        end
        retObj.localLastUpdateTime = computer.uptime()
        retObj.localErrorLast = error
    end
    retObj.set = function(newSetPoint)
       retObj.setPoint = newSetPoint
    end
    retObj.getOutput = function()
      return outputValue
    end
    return retObj
end

if not (component.isAvailable("br_reactor")) then
  print("Reactor not detected")
  return 0
end

if not (component.isAvailable("br_turbine")) then
  print("Turbine not detected")
  return 0
end

local reactor = component["br_reactor"]
local turbine = component["br_turbine"]
local turbineSpeedPID = getPIDObject(1, 1, 1, 0, 1000, turbine.getRotorSpeed, turbine.setFluidFlowRateMax)
local reactorTempPID = getPIDObject(-0.1, -0.1, -0.1, 0, 100, reactor.getFuelTemperature, reactor.setAllControlRodLevels)
local reactorSteamPID = getPIDObject(0.01, 0.001, 0.01, 99, 250, reactor.getHotFluidAmount, function(newOutput) reactorTempPID.setPoint = newOutput end)
turbineSpeedPID.setPoint = 900
reactorTempPID.setPoint = 200
reactorSteamPID.setPoint = reactor.getHotFluidAmountMax() / 2

function updateLoop()
  turbineSpeedPID.update()
  reactorSteamPID.update()
  reactorTempPID.update()
  print("CurrentTemp: " .. reactor.getFuelTemperature())
  print("SetTemp: " .. reactorTempPID.setPoint)
  print("Steam: " .. (reactor.getHotFluidAmount() * 100 / reactor.getHotFluidAmountMax()))
end

while true do
  updateLoop()
  os.sleep(0.5)
end