def pid(self, target, process_var, timestep):
        current_error = (process_var - target)
        p_error = self.kp * current_error
        d_error = self.kd * (current_error - self.previous_error) \
            / timestep
        self.integral_error = (
            current_error + self.previous_error) / 2 \
            + self.integral_error
        i_error = self.ki * self.integral_error
        total_error = p_error + d_error + i_error
        self.previous_error = current_error
        return total_error
dataset/ETHPy150Open IEEERobotics/bot/bot/follower/pid.py/PID.pid/swapped operands of `-`