fix:: removed whitespace

.gitignore

@@ -1,3 +1,4 @@
 # Godot 4+ specific ignores
 .godot/
 /android/
+/dist/

Assets/PID_Spinning_Stuff.glb.import

@@ -0,0 +1,42 @@
+[remap]
+
+importer="scene"
+importer_version=1
+type="PackedScene"
+uid="uid://b8yyluxikhlr0"
+path="res://.godot/imported/PID_Spinning_Stuff.glb-977aece4b561e834c064e6c1c7e53471.scn"
+
+[deps]
+
+source_file="res://Assets/PID_Spinning_Stuff.glb"
+dest_files=["res://.godot/imported/PID_Spinning_Stuff.glb-977aece4b561e834c064e6c1c7e53471.scn"]
+
+[params]
+
+nodes/root_type=""
+nodes/root_name=""
+nodes/root_script=null
+nodes/apply_root_scale=true
+nodes/root_scale=1.0
+nodes/import_as_skeleton_bones=false
+nodes/use_name_suffixes=true
+nodes/use_node_type_suffixes=true
+meshes/ensure_tangents=true
+meshes/generate_lods=true
+meshes/create_shadow_meshes=true
+meshes/light_baking=1
+meshes/lightmap_texel_size=0.2
+meshes/force_disable_compression=false
+skins/use_named_skins=true
+animation/import=true
+animation/fps=30
+animation/trimming=false
+animation/remove_immutable_tracks=true
+animation/import_rest_as_RESET=false
+import_script/path=""
+materials/extract=0
+materials/extract_format=0
+materials/extract_path=""
+_subresources={}
+gltf/naming_version=2
+gltf/embedded_image_handling=1

Assets/PID_Spinning_Target.glb.import

@@ -0,0 +1,42 @@
+[remap]
+
+importer="scene"
+importer_version=1
+type="PackedScene"
+uid="uid://cin3pgpeydkpe"
+path="res://.godot/imported/PID_Spinning_Target.glb-739e3becae2412e2332407d1fc9f1fc7.scn"
+
+[deps]
+
+source_file="res://Assets/PID_Spinning_Target.glb"
+dest_files=["res://.godot/imported/PID_Spinning_Target.glb-739e3becae2412e2332407d1fc9f1fc7.scn"]
+
+[params]
+
+nodes/root_type=""
+nodes/root_name=""
+nodes/root_script=null
+nodes/apply_root_scale=true
+nodes/root_scale=1.0
+nodes/import_as_skeleton_bones=false
+nodes/use_name_suffixes=true
+nodes/use_node_type_suffixes=true
+meshes/ensure_tangents=true
+meshes/generate_lods=true
+meshes/create_shadow_meshes=true
+meshes/light_baking=1
+meshes/lightmap_texel_size=0.2
+meshes/force_disable_compression=false
+skins/use_named_skins=true
+animation/import=true
+animation/fps=30
+animation/trimming=false
+animation/remove_immutable_tracks=true
+animation/import_rest_as_RESET=false
+import_script/path=""
+materials/extract=0
+materials/extract_format=0
+materials/extract_path=""
+_subresources={}
+gltf/naming_version=2
+gltf/embedded_image_handling=1

Assets/PID_Test_Obj.blend.import

@@ -0,0 +1,59 @@
+[remap]
+
+importer="scene"
+importer_version=1
+type="PackedScene"
+uid="uid://c8ywajojvb7pw"
+path="res://.godot/imported/PID_Test_Obj.blend-06d5e64216d0d8667c2f9c3cb6d12c34.scn"
+
+[deps]
+
+source_file="res://Assets/PID_Test_Obj.blend"
+dest_files=["res://.godot/imported/PID_Test_Obj.blend-06d5e64216d0d8667c2f9c3cb6d12c34.scn"]
+
+[params]
+
+nodes/root_type=""
+nodes/root_name=""
+nodes/root_script=null
+nodes/apply_root_scale=true
+nodes/root_scale=1.0
+nodes/import_as_skeleton_bones=false
+nodes/use_name_suffixes=true
+nodes/use_node_type_suffixes=true
+meshes/ensure_tangents=true
+meshes/generate_lods=true
+meshes/create_shadow_meshes=true
+meshes/light_baking=1
+meshes/lightmap_texel_size=0.2
+meshes/force_disable_compression=false
+skins/use_named_skins=true
+animation/import=true
+animation/fps=30
+animation/trimming=false
+animation/remove_immutable_tracks=true
+animation/import_rest_as_RESET=false
+import_script/path=""
+materials/extract=0
+materials/extract_format=0
+materials/extract_path=""
+_subresources={}
+blender/nodes/visible=0
+blender/nodes/active_collection_only=false
+blender/nodes/punctual_lights=true
+blender/nodes/cameras=true
+blender/nodes/custom_properties=true
+blender/nodes/modifiers=1
+blender/meshes/colors=false
+blender/meshes/uvs=true
+blender/meshes/normals=true
+blender/meshes/export_geometry_nodes_instances=false
+blender/meshes/tangents=true
+blender/meshes/skins=2
+blender/meshes/export_bones_deforming_mesh_only=false
+blender/materials/unpack_enabled=true
+blender/materials/export_materials=1
+blender/animation/limit_playback=true
+blender/animation/always_sample=true
+blender/animation/group_tracks=true
+gltf/naming_version=2

Levels/pid_test.gd

@@ -0,0 +1,108 @@
+extends Node3D
+
+var p:float = 0.4
+var i:float = 0.0
+var d:float = 1
+
+var force:float = 200.0
+var error:float = 0.0
+var last_error = 0.0
+var error_derivative:float = 0.0
+var integral:float = 0.0
+var target:float = 0.0 #0.0 -> 359.99
+
+var p_input:SpinBox
+var i_input:SpinBox
+var d_input:SpinBox
+var force_input:SpinBox
+var target_input:SpinBox
+
+var spinner_node:Node3D
+var target_node:Node3D
+var error_lable:Label
+var speed_lable:Label
+var acceleration_label:Label
+var error_derivative_lable:Label
+var integral_lable:Label
+
+var spinner_speed:float = 0.0
+var max_speed:float = 120 # deg/m -> 1/360/60s = 1rpm
+var acceleration:float
+
+func _ready() -> void:
+	spinner_node = get_node("Spinner")
+	target_node = get_node("Target")
+
+	p_input = get_node("PID Menue/PanelContainer/VBoxContainer/Proportinal Term (P)/Input")
+	p_input.value_changed.connect(_update_p_value)
+
+	i_input = get_node("PID Menue/PanelContainer/VBoxContainer/Integral (I)/Input")
+	i_input.value_changed.connect(_update_i_value)
+
+	d_input = get_node("PID Menue/PanelContainer/VBoxContainer/Derivative (D)/Input")
+	d_input.value_changed.connect(_update_d_value)
+
+	force_input = get_node("PID Menue/PanelContainer/VBoxContainer/Force/Input")
+	force_input.value_changed.connect(_update_force_value)
+
+	target_input =get_node("PID Menue/PanelContainer/VBoxContainer/Target Rotation/Input")
+	target_input.value_changed.connect(_update_target_rot)
+
+	error_lable = get_node("PID Menue/PanelContainer/VBoxContainer/Error/Output")
+	speed_lable = get_node("PID Menue/PanelContainer/VBoxContainer/Speed/Output")
+	error_derivative_lable = get_node("PID Menue/PanelContainer/VBoxContainer/Error Derivative/Output")
+	acceleration_label = get_node("PID Menue/PanelContainer/VBoxContainer/Acceleration/Output")
+	integral_lable = get_node("PID Menue/PanelContainer/VBoxContainer/Integral/Output")
+
+	# Set default values
+	p_input.value = p
+	i_input.value = i
+	d_input.value = d
+	force_input.value = force
+
+func _update_target_rot(value:float) -> void:
+	target_node.rotation.x = deg_to_rad(value)
+
+func _update_p_value(value:float) -> void:
+	p = value
+
+func _update_i_value(value:float) -> void:
+	i = value
+
+func _update_d_value(value:float) -> void:
+	d = value
+
+func _update_force_value(value:float) -> void:
+	force = value
+
+func _process(delta: float) -> void:
+	# PID Stuff
+	target = rad_to_deg(target_node.rotation.x)
+	error = target - rad_to_deg(spinner_node.rotation.x)
+	error_derivative = (error - last_error) /delta
+	integral += error * delta
+
+
+	# Clamp acceleration between min and max force
+	var pid_output := (p * error) + (i * integral) + (d * error_derivative)
+	acceleration = clampf(pid_output, -force, force)
+	# Set speed
+	var next_speed = spinner_speed + acceleration * delta
+
+	# Block acceleration that would exceed max speed
+	if abs(spinner_speed) >= max_speed and sign(acceleration) == sign(spinner_speed):
+		acceleration = 0.0
+		next_speed = spinner_speed
+
+	spinner_speed = clamp(next_speed, -max_speed, max_speed)
+	spinner_node.rotation_degrees.x += spinner_speed * delta
+
+	last_error = error
+
+func _physics_process(delta: float) -> void:
+	#UI Updats
+	error_lable.text = str(error).pad_decimals(2).pad_zeros(3) + " deg"
+	error_derivative_lable.text = str(error_derivative).pad_decimals(2).pad_zeros(3)
+	integral_lable.text = str(integral).pad_decimals(2).pad_zeros(3)
+	speed_lable.text = str(spinner_speed).pad_decimals(2).pad_zeros(3) + " deg/m"
+	acceleration_label.text  = str(acceleration/force*100).pad_decimals(2).pad_zeros(3) + " %"

Levels/pid_test.gd.uid

@@ -0,0 +1 @@
+uid://b63aqs33qyp0g

Levels/pid_test.tscn

@@ -1,3 +1,221 @@
-[gd_scene format=3 uid="uid://caj5t8q1fii5m"]
+[gd_scene load_steps=8 format=3 uid="uid://caj5t8q1fii5m"]
+
+[ext_resource type="PackedScene" uid="uid://cin3pgpeydkpe" path="res://Assets/PID_Spinning_Target.glb" id="1_0c8sw"]
+[ext_resource type="Script" uid="uid://b63aqs33qyp0g" path="res://Levels/pid_test.gd" id="1_sxbsa"]
+[ext_resource type="PackedScene" uid="uid://b8yyluxikhlr0" path="res://Assets/PID_Spinning_Stuff.glb" id="2_sxbsa"]
+
+[sub_resource type="Environment" id="Environment_d03hh"]
+background_mode = 2
+background_color = Color(0.14478481, 0.14478481, 0.14478481, 1)
+ambient_light_source = 2
+
+[sub_resource type="Theme" id="Theme_sxbsa"]
+
+[sub_resource type="Theme" id="Theme_d03hh"]
+
+[sub_resource type="LabelSettings" id="LabelSettings_sxbsa"]
+font_size = 24
 
 [node name="PidTest" type="Node3D"]
+script = ExtResource("1_sxbsa")
+
+[node name="Target" type="Node3D" parent="."]
+
+[node name="PID_Spinning_Target" parent="Target" instance=ExtResource("1_0c8sw")]
+
+[node name="Spinner" type="Node3D" parent="."]
+
+[node name="PID_Spinning_Stuff" parent="Spinner" instance=ExtResource("2_sxbsa")]
+
+[node name="OmniLight3D" type="OmniLight3D" parent="Spinner/PID_Spinning_Stuff"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.40560818, 0.6382216, 0)
+light_color = Color(0.99999994, 0.20727095, 0.32746297, 1)
+light_energy = 0.2
+shadow_enabled = true
+
+[node name="Camera3D" type="Camera3D" parent="."]
+transform = Transform3D(-4.3597606e-08, -0.072106734, 0.99739695, -3.1518854e-09, 0.99739695, 0.072106734, -1, 0, -4.371139e-08, 4.3431935, 0.43207824, 0)
+environment = SubResource("Environment_d03hh")
+
+[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
+transform = Transform3D(0.25000006, 0.9659258, 0.06698735, -0.2588191, -1.9081726e-08, 0.9659258, 0.93301266, -0.25881913, 0.25000003, 0, 3.3288543, 0)
+
+[node name="PID Menue" type="Control" parent="."]
+layout_mode = 3
+anchors_preset = 0
+offset_left = 20.0
+offset_top = 20.0
+offset_right = 20.0
+offset_bottom = 20.0
+theme = SubResource("Theme_sxbsa")
+
+[node name="PanelContainer" type="PanelContainer" parent="PID Menue"]
+layout_mode = 0
+offset_right = 40.0
+offset_bottom = 40.0
+
+[node name="VBoxContainer" type="VBoxContainer" parent="PID Menue/PanelContainer"]
+layout_mode = 2
+theme = SubResource("Theme_d03hh")
+
+[node name="Spinner Header" type="Label" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+text = "Spinner Controll"
+label_settings = SubResource("LabelSettings_sxbsa")
+
+[node name="Proportinal Term (P)" type="HBoxContainer" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+
+[node name="Label" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Proportinal Term (P)"]
+layout_mode = 2
+size_flags_horizontal = 3
+text = "Proportinal Term (P)"
+
+[node name="MarginContainer" type="MarginContainer" parent="PID Menue/PanelContainer/VBoxContainer/Proportinal Term (P)"]
+custom_minimum_size = Vector2(20, 0)
+layout_mode = 2
+
+[node name="Input" type="SpinBox" parent="PID Menue/PanelContainer/VBoxContainer/Proportinal Term (P)"]
+layout_mode = 2
+max_value = 1.0
+step = 0.01
+value = 0.5
+
+[node name="Integral (I)" type="HBoxContainer" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+
+[node name="Label" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Integral (I)"]
+layout_mode = 2
+size_flags_horizontal = 3
+text = "Integral (I)"
+
+[node name="Input" type="SpinBox" parent="PID Menue/PanelContainer/VBoxContainer/Integral (I)"]
+layout_mode = 2
+max_value = 1.0
+step = 0.01
+
+[node name="Derivative (D)" type="HBoxContainer" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+
+[node name="Label" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Derivative (D)"]
+layout_mode = 2
+size_flags_horizontal = 3
+text = "Derivative (D)"
+
+[node name="Input" type="SpinBox" parent="PID Menue/PanelContainer/VBoxContainer/Derivative (D)"]
+layout_mode = 2
+max_value = 1.0
+step = 0.01
+
+[node name="Force" type="HBoxContainer" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+
+[node name="Label" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Force"]
+layout_mode = 2
+size_flags_horizontal = 3
+text = "Force"
+
+[node name="Input" type="SpinBox" parent="PID Menue/PanelContainer/VBoxContainer/Force"]
+layout_mode = 2
+
+[node name="MarginContainer" type="MarginContainer" parent="PID Menue/PanelContainer/VBoxContainer"]
+custom_minimum_size = Vector2(0, 20)
+layout_mode = 2
+
+[node name="Target Header" type="Label" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+text = "Target"
+label_settings = SubResource("LabelSettings_sxbsa")
+
+[node name="Target Rotation" type="HBoxContainer" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+
+[node name="Label" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Target Rotation"]
+layout_mode = 2
+size_flags_horizontal = 3
+text = "Target Rotation"
+
+[node name="Input" type="SpinBox" parent="PID Menue/PanelContainer/VBoxContainer/Target Rotation"]
+layout_mode = 2
+max_value = 1439.96
+step = 0.01
+custom_arrow_step = 10.0
+
+[node name="MarginContainer2" type="MarginContainer" parent="PID Menue/PanelContainer/VBoxContainer"]
+custom_minimum_size = Vector2(0, 20)
+layout_mode = 2
+
+[node name="Solution" type="Label" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+text = "Solution"
+label_settings = SubResource("LabelSettings_sxbsa")
+
+[node name="Error" type="HBoxContainer" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+
+[node name="Label" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Error"]
+layout_mode = 2
+size_flags_horizontal = 3
+text = "Error"
+
+[node name="Output" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Error"]
+layout_mode = 2
+text = "000.00"
+horizontal_alignment = 1
+uppercase = true
+
+[node name="Error Derivative" type="HBoxContainer" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+
+[node name="Label" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Error Derivative"]
+layout_mode = 2
+size_flags_horizontal = 3
+text = "Error Derivative"
+
+[node name="Output" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Error Derivative"]
+layout_mode = 2
+text = "000.00"
+horizontal_alignment = 1
+uppercase = true
+
+[node name="Integral" type="HBoxContainer" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+
+[node name="Label" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Integral"]
+layout_mode = 2
+size_flags_horizontal = 3
+text = "Integral"
+
+[node name="Output" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Integral"]
+layout_mode = 2
+text = "000.00"
+horizontal_alignment = 1
+uppercase = true
+
+[node name="Speed" type="HBoxContainer" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+
+[node name="Label" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Speed"]
+layout_mode = 2
+size_flags_horizontal = 3
+text = "Speed"
+
+[node name="Output" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Speed"]
+layout_mode = 2
+text = "000.00"
+horizontal_alignment = 1
+uppercase = true
+
+[node name="Acceleration" type="HBoxContainer" parent="PID Menue/PanelContainer/VBoxContainer"]
+layout_mode = 2
+
+[node name="Label" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Acceleration"]
+layout_mode = 2
+size_flags_horizontal = 3
+text = "Acceleration"
+
+[node name="Output" type="Label" parent="PID Menue/PanelContainer/VBoxContainer/Acceleration"]
+layout_mode = 2
+text = "000.00"
+horizontal_alignment = 1
+uppercase = true

back_to_main.gd

@@ -0,0 +1,6 @@
+extends Node
+var main_menue: PackedScene = preload("res://main.tscn")
+
+func _input(event: InputEvent) -> void:
+	if event.is_action_pressed("main_menue"):
+		get_tree().change_scene_to_packed(main_menue)

back_to_main.gd.uid

@@ -0,0 +1 @@
+uid://c6n4axv3eoguq

export_presets.cfg

@@ -0,0 +1,45 @@
+[preset.0]
+
+name="Godot Experiments"
+platform="Web"
+runnable=true
+advanced_options=false
+dedicated_server=false
+custom_features=""
+export_filter="all_resources"
+include_filter=""
+exclude_filter=""
+export_path="dist/Experements.html"
+patches=PackedStringArray()
+encryption_include_filters=""
+encryption_exclude_filters=""
+seed=0
+encrypt_pck=true
+encrypt_directory=false
+script_export_mode=2
+
+[preset.0.options]
+
+custom_template/debug=""
+custom_template/release=""
+variant/extensions_support=false
+variant/thread_support=false
+vram_texture_compression/for_desktop=true
+vram_texture_compression/for_mobile=false
+html/export_icon=true
+html/custom_html_shell=""
+html/head_include=""
+html/canvas_resize_policy=2
+html/focus_canvas_on_start=true
+html/experimental_virtual_keyboard=false
+progressive_web_app/enabled=false
+progressive_web_app/ensure_cross_origin_isolation_headers=true
+progressive_web_app/offline_page=""
+progressive_web_app/display=1
+progressive_web_app/orientation=0
+progressive_web_app/icon_144x144=""
+progressive_web_app/icon_180x180=""
+progressive_web_app/icon_512x512=""
+progressive_web_app/background_color=Color(0, 0, 0, 1)
+threads/emscripten_pool_size=8
+threads/godot_pool_size=4

project.godot

@@ -16,6 +16,10 @@ config/features=PackedStringArray("4.5", "Forward Plus")
 boot_splash/bg_color=Color(0, 0, 0, 1)
 config/icon="res://icon.svg"
 
+[autoload]
+
+BackToMain="*res://back_to_main.gd"
+
 [input]
 
 w={
@@ -48,6 +52,11 @@ e={
 "events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":69,"key_label":0,"unicode":101,"location":0,"echo":false,"script":null)
 ]
 }
+main_menue={
+"deadzone": 0.2,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194305,"key_label":0,"unicode":0,"location":0,"echo":false,"script":null)
+]
+}
 
 [physics]