diff --git a/scripts/libraries/pid.py b/scripts/libraries/pid.py index 03f2a1efb..db25bdf04 100644 --- a/scripts/libraries/pid.py +++ b/scripts/libraries/pid.py @@ -8,7 +8,7 @@ while(True): #control value with output """ -from pyb import millis +from time import ticks_ms from math import pi, isnan @@ -25,7 +25,7 @@ class PID: self._last_derivative = float("nan") def get_pid(self, error, scaler): - tnow = millis() + tnow = ticks_ms() dt = tnow - self._last_t output = 0 if self._last_t == 0 or dt > 1000: