sbhs_controller sbhs_controller SBHS import gnuradio.sbhs.gr_controller as gr_controller gr_controller.sbhs_controller() self.$(id).set_parameters($P, $I, $d, $a, $b, $window) IO Type type enum F32_F32f32_f32 S32_S32s32_s32 S16_S16s16_s16 S8_S8s8_s8 Num Inputs num_inputs 1 int Vec Length vlen 1 int Delta T a 1 real P Value P 1 real I Value I 1 real D Value d 1 real Set Point b 1 real Window window 1 int $num_inputs > 0 $vlen > 0 in $(str($type).split('_')[0]) $vlen $num_inputs out $(str($type).split('_')[1]) $vlen SBHS Controller Block > SBHS Controller Block to implement P I D Algorithms