class PID(object):
      def __init__(self, Kp = 0, Ki = 0, sp = 0, imax = 100000):
          self.setKp(int(Kp))
          self.setKi(int(Ki))
          self.resetInt()
          self.setSp(int(sp))
          self.setIntSat(int(imax))
          self.ON = True
  
      def compute(self, y0):
          if self.ON:
              eps = self.setpoint - y0
              #if abs(eps) < 10:
              #    self.Sum = 0
              #else:
              self.Sum = min(self.imax, max(-self.imax, self.Sum + eps))
              return (self.Kp * eps + self.Ki * self.Sum)//1000
          else:
              return 0
  
      def setKp(self, Kp):
          self.Kp = Kp
  
      def setKi(self, Ki):
          self.Ki = Ki
  
      def resetInt(self):
          self.Sum = 0
  
      def setSp(self, Sp):
          self.setpoint = Sp
  
      def setIntSat(self, imax):
          self.imax = imax
  
      def status(self):
          print('%s\t%s\t%s\t%s\t%s'%(self.setpoint, self.Kp, self.Ki, self.Sum, self.ON))
  
      def stop(self):
          self.ON = False
          self.setKp(0)
          self.setKi(0)
          self.resetInt()
  
      def start(self):
          self.ON = True
  
      def set(self, Kp = 0, Ki = 0, sp = 2000):
          self.setKp(Kp)
          self.setKi(Ki)
          self.setSp(sp)