diff --git a/.idea/misc.xml b/.idea/misc.xml
index e158a33..116cb80 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -3,5 +3,5 @@
-
+
\ No newline at end of file
diff --git a/control_functions.py b/control_functions.py
index 4cbe1d1..987deef 100644
--- a/control_functions.py
+++ b/control_functions.py
@@ -14,7 +14,6 @@ import csv # CSV handling
from datetime import datetime # Date and time formatting
import time # Time formatting
-from serial.tools.list_ports_osx import kCFNumberSInt8Type
######################################## Variables (start) ##################################
# Variables to control sensor
@@ -36,20 +35,20 @@ SCREEN: bool = True # Log data to screen
DEBUG: bool = False # More data to display
# Variables to assist PID calculations
-current_time: float = 0
-integral: float = 0
-time_prev: float = -1e-6
-error_prev: float = 0
+current_time = 0
+integral = 0
+time_prev = -1e-6
+error_prev = 0
# Variables to control PID values (PID formula tweaks)
-p_value: float = 2
-i_value: float = 0
-d_value: float = 0
+p_value = 2
+i_value = 0
+d_value = 0
# Initial variables, used in pid_calculations()
-i_result: float = 0
-previous_time: float
-previous_error: float
+i_result = 0
+previous_time = 0
+previous_error = 0
# Init array, used in read_distance_sensor()
sample_array: list = []
@@ -153,18 +152,18 @@ def pid_calculations(setpoint):
error_sum: float = 0.0
if previous_time is None:
- previous_error: float = 0.0
- previous_time: float = current_time
- i_result: float = 0.0
- error_sum: float = error * 0.008 # sensor sampling number approximation.
+ previous_error = 0.0
+ previous_time = current_time
+ i_result = 0.0
+ error_sum = error * 0.008 # sensor sampling number approximation.
- error_sum: float = error_sum + (error * (current_time - previous_time))
- p_result: float = p_value * error
- i_result: float = i_value * error_sum
- d_result: float = d_value * ((error - previous_error) / (current_time - previous_time))
- pid_result: float = offset_value + p_result + i_result + d_result
- previous_error: float = error
- previous_time: float = current_time
+ error_sum = error_sum + (error * (current_time - previous_time))
+ p_result = p_value * error
+ i_result = i_value * error_sum
+ d_result = d_value * ((error - previous_error) / (current_time - previous_time))
+ pid_result = offset_value + p_result + i_result + d_result
+ previous_error = error
+ previous_time = current_time
return pid_result