@name E2 PID for 8 wheel suspension
@inputs Input Input2 Input3 Input4 Input5 Input6 Input7 Input8 Setpoint Reset
@outputs  Integral LeftFront LeftRear LeftFrontRear LeftRearFront
@outputs RightFront RightRear RightFrontRear RightRearFront
@persist  Error Measured_value  Dt Derivative Previous_error Kp Ki Kd MaxOutput MaxInt IntLimiter
@persist Output Output2 Output3 Output4 Output5 Output6 Output7 Output8
@trigger
@autoupdate


##this is a universal e2 pid for hydro suspension it can use up too 8 wheels
##if you find any flaws it may need seperate KP KI KD's
##if that is the case just add them and alter the code per wheel so it will look like
##KP2 KI2 KD2
##if your vehicle has less then 8 wheels just wire it respectivly
##anything labeled RearFront is just the wheel infront of your rear drive
##so if you have a 6 wheeler its rearfront then rearrear

Dt=20
interval(1000/Dt)



if(Reset){
Error = 0
Previous_error = 0
Derivative = 0
Integral = 0

}
Intergral = 1

Setpoint = 50

Kp = 0.01
Ki = 0.0005
Kd = 1

MaxOutput = 100
MaxInt = 20000

##left front

Error = Setpoint - Input
Integral = clamp(Integral + Error*Dt,-MaxInt,MaxInt)
Derivative = (Error - Previous_error)/Dt
Output = clamp((Kp*Error + Ki*Integral + Kd*Derivative),-MaxOutput,MaxOutput)
Previous_error = Error
LeftFront = Setpoint + Output
 ## right front
Error2 = Setpoint - Input2
Integral2 = clamp(Integral2 + Error2*Dt,-MaxInt,MaxInt)
Derivative2 = (Error2 - Previous_error2)/Dt
Output2 = clamp((Kp*Error2 + Ki*Integral2 + Kd*Derivative2),-MaxOutput,MaxOutput)
Previous_error2 = Error2
RightFront = Setpoint + Output2
#left front rear
Error3 = Setpoint - Input3
Integral3 = clamp(Integral3 + Error3*Dt,-MaxInt,MaxInt)
Derivative3 = (Error3 - Previous_error3)/Dt
Output3 = clamp((Kp*Error3 + Ki*Integral3 + Kd*Derivative3),-MaxOutput,MaxOutput)
Previous_error3 = Error3
LeftFrontRear = Setpoint + Output3
#right front rear
Error4 = Setpoint - Input4
Integral4 = clamp(Integral4 + Error4*Dt,-MaxInt,MaxInt)
Derivative4 = (Error4 - Previous_error4)/Dt
Output4 = clamp((Kp*Error4 + Ki*Integral4 + Kd*Derivative4),-MaxOutput,MaxOutput)
Previous_error4 = Error4
RightFrontRear = Setpoint + Output4
#left rear front
Error5 = Setpoint - Input5
Integral5 = clamp(Integral5 + Error5*Dt,-MaxInt,MaxInt)
Derivative5 = (Error5 - Previous_error5)/Dt
Output5 = clamp((Kp*Error5 + Ki*Integral5 + Kd*Derivative5),-MaxOutput,MaxOutput)
Previous_error5 = Error5
LeftRearFront = Setpoint + Output5
#right rear front
Error6 = Setpoint - Input6
Integral6 = clamp(Integral6 + Error6*Dt,-MaxInt,MaxInt)
Derivative6 = (Error6 - Previous_error6)/Dt
Output6 = clamp((Kp*Error6 + Ki*Integral6 + Kd*Derivative6),-MaxOutput,MaxOutput)
Previous_error6 = Error6
RightRearFront = Setpoint + Output5
#left rear
Error7 = Setpoint - Input7
Integral7 = clamp(Integral7 + Error7*Dt,-MaxInt,MaxInt)
Derivative7 = (Error7 - Previous_error7)/Dt
Output7 = clamp((Kp*Error7 + Ki*Integral7 + Kd*Derivative7),-MaxOutput,MaxOutput)
Previous_error7 = Error7
LeftRear = Setpoint + Output7
#right rear
Error8 = Setpoint - Input8
Integral8 = clamp(Integral8 + Error8*Dt,-MaxInt,MaxInt)
Derivative = (Error8 - Previous_error8)/Dt
Output8 = clamp((Kp*Error8 + Ki*Integral8 + Kd*Derivative8),-MaxOutput,MaxOutput)
Previous_error8 = Error8
RightRear = Setpoint + Output8