PID模块出错，请求解答

[thnx]

from pyb import millis

from math import pi, isnan

class PID:

_kp = _ki = _kd = _integrator = _imax = 0

_last_error = _last_derivative = _last_t = 0

_RC = 1/(2 * pi * 20)

def init(self, p=0, i=0, d=0, imax=0):

self._kp = float(p)

self._ki = float(i)

self._kd = float(d)

self._imax = abs(imax)

self._last_derivative = float('nan')

def get_pid(self, error, scaler):

tnow = millis()

dt = tnow - self._last_t

output = 0

if self._last_t == 0 or dt > 1000:

  dt = 0

  self.reset_I()

self._last_t = tnow

delta_time = float(dt) / float(1000)

output += error * self._kp

if abs(self._kd) > 0 and dt > 0:

  if isnan(self._last_derivative):

    derivative = 0

    self._last_derivative = 0

  else:

    derivative = (error - self._last_error) / delta_time

  derivative = self._last_derivative + \

              (((delta_time) / (self._RC + delta_time)) *(derivative - self._last_derivative))

  self._last_error = error

  self._last_derivative = derivative

  output += self._kd * derivative

output *= scaler

if abs(self._ki) > 0 and dt > 0:

  self._integrator += (error * self._ki) * scaler * delta_time

  if self._integrator < -self._imax: self._integrator = -self._imax

  elif self._integrator > self._imax: self._integrator = self._imax

  output += self._integrator

return output

def reset_I(self):

self._integrator = 0

self._last_derivative = float('nan')

[kidswong999]

请上传报错提示。

[thnx]

[kidswong999]

代码不能有空行。