From da566fefb11ed153334dd7cdde43517c2459c948 Mon Sep 17 00:00:00 2001 From: Ickaser Date: Sat, 12 Dec 2020 10:47:21 -0700 Subject: [PATCH] CLip controller swings --- sim.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/sim.py b/sim.py index 10e90c6..9f86847 100644 --- a/sim.py +++ b/sim.py @@ -130,7 +130,7 @@ def calc_params(kind): dt = 1 -def PID(i,SPH, H, H_last, Kc,tau_I, tau_D, INTerr_prev, i_last): #where i is the current time +def PID(i,SPH, H, H_last, Kc,tau_I, tau_D, INTerr_prev, A_last, i_last): #where i is the current time # This function is written in terms of health, but works equivalently for a different PV. Abias = 1 #P @@ -151,6 +151,10 @@ def PID(i,SPH, H, H_last, Kc,tau_I, tau_D, INTerr_prev, i_last): #where i is th elif At_enem>20: At_enem = 20 INTerr -= sumierr + if At_enem - A_last > 3: + At_enem = A_last + 3 + elif At_enem - A_last < -3: + At_enem = A_last - 3 # print(At_enem,INTerr - INTerr_prev) return At_enem, INTerr @@ -198,7 +202,8 @@ def sim_gameplay(style, skill, adj=True, control=True): Kc, tauI = calc_params(kind) # PID control with parameters DPS_now = (HP0 - HP_char[i-1])/i - new_At, interr = PID(i, SP_DPS, DPS_now, DPS_last, Kc, tauI, tauD, interr, i_last) + new_At, interr = PID(i, SP_DPS, DPS_now, DPS_last, Kc, tauI, tauD, \ + interr, At_enem[i-1], i_last) DPS_last = DPS_now i_last = i # print("cntrl", end="")