pybricks.common.Control: Document deadzone.

pybricks · Feb 2, 2023 · 428bca7 · 428bca7
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,6 +4,9 @@
 
 ## Unreleased
 
+### Added
+- Documented ``integral_deadzone`` in ``Control.pid()``.
+
 ## 3.2.0 - 2022-12-20
 
 ### Changed

diff --git a/jedi/tests/test_get_signature.py b/jedi/tests/test_get_signature.py
@@ -637,12 +637,12 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
                     "kp: Optional[Number]=None",
                     "ki: Optional[Number]=None",
                     "kd: Optional[Number]=None",
-                    "reserved: Optional[Number]=None",
+                    "integral_deadzone: Optional[Number]=None",
                     "integral_rate: Optional[Number]=None",
                 ],
                 "None",
             ),
-            ([], "Tuple[int, int, int, None, int]"),
+            ([], "Tuple[int, int, int, int, int]"),
         ],
     ),
     pytest.param(

diff --git a/src/pybricks/_common.py b/src/pybricks/_common.py
@@ -219,18 +219,18 @@ def pid(
         kp: Optional[Number] = None,
         ki: Optional[Number] = None,
         kd: Optional[Number] = None,
-        reserved: Optional[Number] = None,
+        integral_deadzone: Optional[Number] = None,
         integral_rate: Optional[Number] = None,
     ) -> None:
         ...
 
     @overload
-    def pid(self) -> Tuple[int, int, int, None, int]:
+    def pid(self) -> Tuple[int, int, int, int, int]:
         ...
 
     def pid(self, *args):
-        """pid(kp, ki, kd, reserved, integral_rate)
-        pid() -> Tuple[int, int, int, None, int]
+        """pid(kp, ki, kd, integral_deadzone, integral_rate)
+        pid() -> Tuple[int, int, int, int, int]
 
         Gets or sets the PID values for position and speed control.
 
@@ -245,7 +245,8 @@ def pid(self, *args):
             kd (int): Derivative position (or proportional speed) control
                 constant. It is the feedback torque per
                 unit of speed: µNm/(deg/s).
-            reserved: This setting is not used.
+            integral_deadzone (Number, deg or Number, mm): Zone around the
+                target where the error integral does not accumulate errors.
             integral_rate (Number, deg/s or Number, mm/s): Maximum rate at
                 which the error integral is allowed to grow.
         """