small bugfix and examples added

Author: asteppke

examples/Examples.ipynb

@@ -0,0 +1,26 @@
+[project]
+name = "tinypid"
+version = "0.1"
+
+requires-python = ">=3.8"
+authors = [
+  {name = "Alexander Steppke", email = "[email protected]"},
+]
+
+description = "Tiny PID controller"
+readme = "README.md"
+license = {file = "LICENSE.txt"}
+# keywords = ["egg", "bacon", "sausage", "tomatoes", "Lobster Thermidor"]
+
+classifiers = [
+  "Programming Language :: Python"
+]
+
+
+# [project.urls]
+# Homepage = "https://example.com"
+# Documentation = "https://readthedocs.org"
+# Repository = "https://github.com/me/spam.git"
+# "Bug Tracker" = "https://github.com/me/spam/issues"
+# Changelog = "https://github.com/me/spam/blob/master/CHANGELOG.md"
+

pyproject.toml

@@ -1,3 +1,15 @@
+"""PID controller
+
+A minimal PID controller. 
+
+Example usage:
+from tinypid import pid
+
+controller = pid.PID()
+
+output = controller(10)
+
+"""
 from typing import Optional, Tuple
 
 
@@ -95,7 +107,9 @@ def limit(self, output: float) -> Tuple[bool, float]:
 
         return saturated, output
 
-    def __call__(self, process_variable : float, manual_output: Optional[float] = None, anti_windup: bool = True) -> float:
+    def __call__(
+        self, process_variable: float, manual_output: Optional[float] = None, anti_windup: bool = True
+    ) -> float:
         """
         Process the input signal and return the controller output.
 
@@ -110,9 +124,7 @@ def __call__(self, process_variable : float, manual_output: Optional[float] = No
 
         self.P = self.K_p * error
         self.I = self.K_i * self.integral
-        self.D = self.K_d * (
-            self.alpha * derivative + (1 - self.alpha) * self._previous_derivative
-        )
+        self.D = self.K_d * (self.alpha * derivative + (1 - self.alpha) * self._previous_derivative)
 
         output = self.P + self.I + self.D
 
@@ -127,12 +139,14 @@ def __call__(self, process_variable : float, manual_output: Optional[float] = No
 
         if manual_output:
             # Use setpoint tracking by calculating integral so that the output matches the manual setpoint
-            self.integral = -(self.P + self.D - manual_output) / self.K_i
+            self.integral = -(self.P + self.D - manual_output) / self.K_i if self.K_i != 0 else 0
             output = manual_output
 
         return output
 
     def __repr__(self):
-        return (f"PID controller\nSetpoint: {self.setpoint}, Output: {self.P + self.I + self.D}\n"
-                f"P: {self.P}, I: {self.I}, D: {self.D}\n"\
-                f"Limits: {self.lower_limit} < output < {self.upper_limit}")
+        return (
+            f"PID controller\nSetpoint: {self.setpoint}, Output: {self.P + self.I + self.D}\n"
+            f"P: {self.P}, I: {self.I}, D: {self.D}\n"
+            f"Limits: {self.lower_limit} < output < {self.upper_limit}"
+        )