README: Add PID Output Clamping section

Explains the need of having separate "max_i_pos/output_max" and
"max_i_neg/output_min" values; They serve different purposes.

README.md

@@ -239,6 +239,22 @@ of channel 0 to the PID algorithm:
 output 0 pid
 ```
 
+### PID output clamping
+
+It is possible to clamp the PID algorithm output independently of channel output limits. This is desirable when e.g. there is a need to keep the current value above a certain threshold in closed-loop mode.
+
+Note that the actual output will still be ultimately limited by the `max_i_pos` and `max_i_neg` values, and will not exceed them.
+
+Set PID maximum output of channel 0 to 1.5 A.
+```
+pid 0 output_max 1.5
+```
+
+Set PID minimum output of channel 0 to 0.1 A.
+```
+pid 0 output_min 0.1
+```
+
 ## LED indicators
 
 | Name | Color | Meaning                        |

doc/PID tuning.md

@@ -13,7 +13,7 @@ When tuning Thermostat PID parameters, it is helpful to view the temperature, PI
 To use the Python real-time plotting utility, run
 
 ```shell
-python pytec/plot.py
+python pythermostat/plot.py
 ```
 
 ![default view](./assets/default%20view.png)
@@ -44,12 +44,12 @@ Below are some general guidelines for manually tuning PID loops. Note that every
 
 ## Auto Tuning
 
-A PID auto tuning utility is provided in the Pytec library. The auto tuning utility drives the the load to a controlled oscillation, observes the ultimate gain and oscillation period and calculates a set of PID parameters.
+A PID auto tuning utility is provided in the PyThermostat library. The auto tuning utility drives the the load to a controlled oscillation, observes the ultimate gain and oscillation period and calculates a set of PID parameters.
 
 To run the auto tuning utility, run
 
 ```shell
-python pytec/autotune.py
+python pythermostat/autotune.py
 ```
 
 After some time, the auto tuning utility will output the auto tuning results, below is a sample output

flake.nix

@@ -58,10 +58,10 @@
         auditable = false;
       };
 
-      pytec = pkgs.python3Packages.buildPythonPackage {
+      pythermostat = pkgs.python3Packages.buildPythonPackage {
-        pname = "pytec";
+        pname = "pythermostat";
         version = "0.0.0";
-        src = "${self}/pytec";
+        src = "${self}/pythermostat";
 
         propagatedBuildInputs =
           with pkgs.python3Packages; [
@@ -72,7 +72,7 @@
     in
     {
       packages.x86_64-linux = {
-        inherit thermostat pytec;
+        inherit thermostat pythermostat;
         default = thermostat;
       };
 

pythermostat/setup.py

@@ -1,7 +1,7 @@
 from setuptools import setup, find_packages
 
 setup(
-    name="pytec",
+    name="pythermostat",
     version="0.0",
     author="M-Labs",
     url="https://git.m-labs.hk/M-Labs/thermostat",