PID version of reactor control

-- keeps reactor working efficiently at all times; increases power load when necessary, goes idle at 90% power until below 10%

local function findPeripherals() --searches around for reactor so the computer doesn't have to be placed in a particular way
  local reactor,terminal --also searches for a terminal glasses terminal
  for k,v in pairs(rs.getSides()) do
    if (peripheral.getType(v) == "BigReactors-Reactor") then
      reactor = peripheral.wrap(v)
      print('reactor found!')
      break
    elseif (peripheral.getType(v) == "openperipheral_glassesbridge") and (not terminal) then
      terminal = peripheral.wrap(v)
      print('terminal found!')
    end
  end
  return reactor, terminal
end


local reactor,terminal=findPeripherals()

local curPower,oldPower,controlRodLevel,powerMode,secondsWorked=0,0,100,0,0

local integral=0

powerMode = reactor.getEnergyStored()<9000000

local function reactorActivities()
  term.clear()
  secondsWorked=secondsWorked+1
  print('Yes, I am working. Total time: ' .. secondsWorked .. ' steps.')
  oldPower=curPower
  curPower=reactor.getEnergyStored()
  if oldPower==0 then
    oldPower=curPower+(target*interval)
  end
  if curPower>9000000 then
    powerMode=false
  elseif curPower<1000000 then
    powerMode=true
  end
  if powerMode then
    oldDeltaPower=deltaPower or 0
    deltaPower = curPower-oldPower
    local curError = deltaPower-(target*interval)
    integral=integral+curError
    local derivative=(deltaPower-oldDeltaPower)/interval
    print('Error: ' .. curError)
    print('Integral: ' .. integral)
    print('Derivative: ' .. derivative)
    local deltaControlRodLevel=math.floor((Kp*curError)+(Ki*integral)+(Kd*derivative))
    print('Control rod level change: ' .. deltaControlRodLevel)
    controlRodLevel = controlRodLevel+deltaControlRodLevel
    if controlRodLevel>100 or controlRodLevel<0 then
     integral=0
    end
    controlRodLevel = controlRodLevel>100 and 100 or controlRodLevel<0 and 0 or controlRodLevel
    if curPower<10000 then
     controlRodLevel=0
     integral=0
    end
    print('Current control rod level: ' .. controlRodLevel)
    reactor.setAllControlRodLevels(controlRodLevel)
  else
    reactor.setAllControlRodLevels(100)
    print("Reactor's nearly full.")
    print("Current status: off.")
  end
end

local function terminalActivities()
  terminal.clear()
  local wastePercent=reactor.getWasteAmount()/reactor.getFuelAmountMax()
  local fuelPercent=(reactor.getWasteAmount()+reactor.getFuelAmount())/reactor.getFuelAmountMax()
  terminal.addBox(5,5,100,10,0xcc0000,0.8)
  terminal.addBox(5,5,math.floor(curPower/100000),10,0x00cc00,0.8)
  terminal.addBox(105,5,10,100,0xcccccc,0.8)
  terminal.addBox(105,5,10,controlRodLevel,0x303030,0.8)
  terminal.addBox(5,20,100,10,0x303030,0.8)
  terminal.addBox(5,20,math.min(math.floor(100*fuelPercent),100),10,0xcccc00,0.8)
  terminal.addBox(5,20,math.min(math.floor(100*wastePercent),100),10,0x00cccc,0.8)
end


args = {...}

interval = args[1] or 2
target = args[2] or 100
target = tonumber(target)
Kp=args[3] or 0.001*(100/target)
Ki=args[4] or 0.0001*(100/target)
Kd=args[5] or 0.00001*(100/target)

interval=tonumber(interval)

if interval<0.5 then
    interval=0.5
end

while reactor.getConnected() do
  if interval then os.startTimer(interval) end
  local event = {os.pullEvent("timer")}
  reactorActivities()
  if terminal then
    terminalActivities()
  end
end