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            "Development Status :: 3 - Alpha",
            "Intended Audience :: Developers",
            "License :: OSI Approved :: MIT License",
            "Programming Language :: Python :: 2",
            "Programming Language :: Python :: 3",
            "Topic :: Software Development :: Build Tools"
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        "description": "# PID\u9505\u7089\u71c3\u70e7\u5668\u63a7\u5236\u7b97\u6cd5\n\n![PyPI - Python Version](https://img.shields.io/pypi/pyversions/mix-pid)\n![PyPI - License](https://img.shields.io/pypi/l/mix-pid)\n![PyPI - Wheel](https://img.shields.io/pypi/wheel/mix-pid)\n![PyPI](https://img.shields.io/pypi/v/mix-pid)\n![PyPI](https://img.shields.io/badge/mixiot-2.0%20%7C%203.0-blue)\n\n\n## \u4f8b\u5b50\n\n```python\nfrom pid import PID\npid = PID(kp=1.0, ki=0.0, kd=0.0,\n          set_pressure=0.5,\n          thresholds=(-10, 10),\n          throttle_limits=((30, 60), (40, 65), (50, 70)),\n          output_limits=(None, None),\n          auto_mode=True)\npid(input_gear=1, input_pressure=0.4, input_angle=59)\n```\n\n\u5b8c\u6574\u7684API\u6587\u6863\u5728 [\u8fd9\u91cc](https://mix-pid.readthedocs.io/en/latest/simple_pid.html#module-simple_pid.PID).\n\n## \u5b89\u88c5\n```\npip install mix-pid\n```\n\n## \u4f7f\u7528\n\u6bcf\u6b21\u7684\u8c03\u7528\u53cd\u9988\u8fd4\u56de\u6b64\u6b21\u63a8\u8350\u7684\u6cb9\u5634\u6863\u4f4d\u548c\u98ce\u95e8\u89d2\u5ea6\u503c\n```python\noutput_gear, output_angle = pid(input_pressure, input_angle)\n```\n\n### \u53c2\u6570\u8bf4\u660e\n\u8bbe\u7f6e\u76ee\u6807\u538b\u529b\n```python\npid.set_pressure = 0.5\n```\n\n\u8bbe\u7f6eKp, Ki, Kd\u7cfb\u6570\n```python\npid.Ki = 1.0\npid.tunings = (1.0, 0.2, 0.4)\n```\n\n\u8bbe\u7f6e\u5224\u65ad\u51b3\u7b56\u7684\u9608\u503c\n```python\npid.thresholds=(-10, 10)\n```\n\n\u8bbe\u7f6e\u71c3\u70e7\u5668\u4e0d\u540c\u6863\u4f4d\u7684\u98ce\u95e8\u89d2\u5ea6\u9650\u5236\n```python\npid.throttle_limits=((30, 60), (40, 65), (50, 70))\n```\n\n\u8bbe\u7f6ePID\u8f93\u51fa\u9650\u5236\u907f\u514d\u51fa\u73b0[integral windup](https://en.wikipedia.org/wiki/Integral_windup)\n```python\npid.output_limits = (0, 10)    # output value will be between 0 and 10\npid.output_limits = (0, None)  # output will always be above 0, but with no upper bound\n```\n\n\u8bbe\u7f6e\u624b\u52a8/\u81ea\u52a8\u6a21\u5f0f\n```python\npid.auto_mode=True\npid.auto_mode=False\n```\n\n## \u8bb8\u53ef\u8bc1\nLicensed under the [MIT License](https://github.com/xiangyangkan/pid/blob/master/LICENSE).\n\n\n",
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