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pybricks.common.Control: Drop integral_range.

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This setting is no longer used. We leave a placeholder setting so we don't break existing programs.

See https://github.com/pybricks/pybricks-micropython/commit/e82dd6a2be4e378ab0b1ee7e3b2643fe654de4a9#diff-e529f43c94cf766ade4b68930f9713a45b62618f4305e4c0c88ba872e9f9cd0e
This commit is contained in:
Laurens Valk
2021-12-01 14:54:21 +01:00
parent eb09ecd7c7
commit e061617c34
1 changed files with 2 additions and 4 deletions
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src/pybricks/_common.py
+2 -4
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@@ -124,7 +124,7 @@ class Control:
""" """
pass pass
def pid(self, kp, ki, kd, integral_range, integral_rate): def pid(self, kp, ki, kd, reserved, integral_rate):
"""Gets or sets the PID values for position and speed control. """Gets or sets the PID values for position and speed control.
If no arguments are given, this will return the current values. If no arguments are given, this will return the current values.
@@ -138,9 +138,7 @@ class Control:
kd (int): Derivative position (or proportional speed) control kd (int): Derivative position (or proportional speed) control
constant. It is the feedback torque per constant. It is the feedback torque per
unit of speed: µNm/(deg/s). unit of speed: µNm/(deg/s).
integral_range (:ref:`angle` or :ref:`distance`): Region around reserved: This setting is not used.
the target angle or distance, in which integral control errors
are accumulated.
integral_rate (:ref:`speed` or :ref:`linspeed`): Maximum rate at integral_rate (:ref:`speed` or :ref:`linspeed`): Maximum rate at
which the error integral is allowed to grow. which the error integral is allowed to grow.
""" """