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feat: error wrap callback

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minco
2025-06-12 16:07:33 +09:00
parent f5e35b606f
commit ba1b18febe
2 changed files with 7 additions and 2 deletions
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2
package.json
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@@ -1,6 +1,6 @@
{ {
"name": "computercraft-mutil", "name": "computercraft-mutil",
"version": "1.0.8", "version": "1.0.9",
"description": "", "description": "",
"license": "ISC", "license": "ISC",
"author": "", "author": "",

7
src/pid.ts
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@@ -2,6 +2,7 @@ export interface PIDParameters {
kP: number; kP: number;
kI: number; kI: number;
kD: number; kD: number;
errorWrap?: (error: number) => number;
} }
export type PIDReport = { export type PIDReport = {
@@ -44,7 +45,11 @@ export class PID {
public update(measuredValue: number): number { public update(measuredValue: number): number {
const currentTime = os.epoch("utc"); const currentTime = os.epoch("utc");
const error = this.setpoint - measuredValue;
const rawError = this.setpoint - measuredValue;
const error = this.params.errorWrap
? this.params.errorWrap(rawError)
: rawError;
let deltaTime = 0; let deltaTime = 0;
if (this.lastTime !== null) { if (this.lastTime !== null) {