Merge pull request #185 from Sleitnick/feature/pid-dt

PID delta time

.vscode/settings.json

@@ -4,6 +4,10 @@
 		"editor.defaultFormatter": "JohnnyMorganz.stylua",
 		"editor.formatOnSave": true,
 	},
+	"[luau]": {
+		"editor.defaultFormatter": "JohnnyMorganz.stylua",
+		"editor.formatOnSave": true,
+	},
 	"[typescript]": {
 		"editor.defaultFormatter": "dbaeumer.vscode-eslint",
 		"editor.formatOnSave": true

LICENSE.md

@@ -1,4 +1,4 @@
-Copyright © 2022 Stephen Leitnick
+Copyright © 2024 Stephen Leitnick
 
 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
 

README.md

@@ -15,7 +15,7 @@
 | [Log](https://sleitnick.github.io/RbxUtil/api/Log) | `Log = "sleitnick/[email protected]"` | Log class for logging to PlayFab |
 | [Net](https://sleitnick.github.io/RbxUtil/api/Net) | `Net = "sleitnick/[email protected]"` | Static networking module |
 | [Option](https://sleitnick.github.io/RbxUtil/api/Option) | `Option = "sleitnick/[email protected]"` | Represent optional values in Lua |
-| [PID](https://sleitnick.github.io/RbxUtil/api/PID) | `PID = "sleitnick/pid@1.1.0"` | PID Controller class |
+| [PID](https://sleitnick.github.io/RbxUtil/api/PID) | `PID = "sleitnick/pid@1.2.0"` | PID Controller class |
 | [Quaternion](https://sleitnick.github.io/RbxUtil/api/Quaternion) | `Quaternion = "sleitnick/[email protected]"` | Quaternion class |
 | [Sequent](https://sleitnick.github.io/RbxUtil/api/Sequent) | `Sequent = "sleitnick/[email protected]"` | Sequent class |
 | [Ser](https://sleitnick.github.io/RbxUtil/api/Ser) | `Ser = "sleitnick/[email protected]"` | Ser class for serialization and deserialization |

modules/pid/index.d.ts

@@ -34,7 +34,7 @@ interface PID {
 	 * @param input The current input.
 	 * @returns The updated output.
 	 */
-	Calculate(setpoint: number, input: number): number;
+	Calculate(setpoint: number, input: number, deltaTime: number): number;
 
 	/**
 	 * Resets the PID.

modules/pid/init.lua

@@ -1,10 +1,9 @@
--- PID
--- August 11, 2020
+--!native
 
 export type PID = {
 	POnE: boolean,
 	Reset: (self: PID) -> (),
-	Calculate: (self: PID, setpoint: number, input: number) -> number,
+	Calculate: (self: PID, setpoint: number, input: number, deltaTime: number) -> number,
 	Debug: (self: PID, name: string, parent: Instance?) -> (),
 	Destroy: (self: PID) -> (),
 }
@@ -61,14 +60,19 @@ PID.__index = PID
 ]=]
 function PID.new(min: number, max: number, kp: number, ki: number, kd: number): PID
 	local self = setmetatable({}, PID)
+
 	self._min = min
 	self._max = max
+
 	self._kp = kp
 	self._ki = ki
 	self._kd = kd
+
 	self._lastInput = 0
 	self._outputSum = 0
+
 	self.POnE = true
+
 	return self
 end
 
@@ -99,10 +103,13 @@ end
 	end)
 	```
 ]=]
-function PID:Calculate(setpoint: number, input: number)
-	local err = (setpoint - input)
-	local dInput = (input - self._lastInput)
-	self._outputSum += (self._ki * err)
+function PID:Calculate(setpoint: number, input: number, deltaTime: number)
+	local ki = self._ki * deltaTime
+	local kd = self._kd * deltaTime
+
+	local err = setpoint - input
+	local dInput = input - self._lastInput
+	self._outputSum += ki * err
 
 	if not self.POnE then
 		self._outputSum -= self._kp * dInput
@@ -115,7 +122,7 @@ function PID:Calculate(setpoint: number, input: number)
 		output = self._kp * err
 	end
 
-	output += self._outputSum - self._kd * dInput
+	output += self._outputSum - kd * dInput
 	output = math.clamp(output, self._min, self._max)
 
 	self._lastInput = input
@@ -138,6 +145,7 @@ function PID:Debug(name: string, parent: Instance?)
 	if not game:GetService("RunService"):IsStudio() then
 		return
 	end
+
 	if self._debug then
 		return
 	end
@@ -154,11 +162,26 @@ function PID:Debug(name: string, parent: Instance?)
 		end)
 	end
 
-	Bind("Min", "_min")
-	Bind("Max", "_max")
-	Bind("KP", "_kp")
-	Bind("KI", "_ki")
-	Bind("KD", "_kd")
+	folder:SetAttribute("MinMax", NumberRange.new(self._min, self._max))
+	folder:GetAttributeChangedSignal("MinMax"):Connect(function()
+		local minMax = folder:GetAttribute("MinMax") :: NumberRange
+		self._min = minMax.Min
+		self._max = minMax.Max
+		self:Reset()
+	end)
+
+	Bind("kP", "_kp")
+	Bind("kI", "_ki")
+	Bind("kD", "_kd")
+
+	folder:SetAttribute("Output", self._min)
+
+	local lastOutput = 0
+	self.Calculate = function(...)
+		lastOutput = PID.Calculate(...)
+		folder:SetAttribute("Output", lastOutput)
+		return lastOutput
+	end
 
 	folder.Parent = parent or workspace
 	self._debug = folder

modules/pid/package.json

@@ -0,0 +1,16 @@
+{
+	"name": "@rbxutil/pid",
+	"version": "1.2.0",
+	"main": "init.lua",
+	"repository": "github:Sleitnick/RbxUtil",
+	"license": "MIT",
+	"types": "index.d.ts",
+	"files": [
+		"./",
+		"!*.toml",
+		"!*.json"
+	],
+	"publishConfig": {
+		"access": "public"
+	}
+}

modules/pid/wally.toml

@@ -1,8 +1,9 @@
 [package]
 name = "sleitnick/pid"
 description = "PID Controller class"
-version = "1.1.0"
+version = "1.2.0"
 license = "MIT"
 authors = ["Stephen Leitnick"]
 registry = "https://github.com/UpliftGames/wally-index"
 realm = "shared"
+exclude = ["node_modules", "package.json", "**/*.ts"]