Put PID output min and max into its own section

The critical difference between this and the max_i_pos, max_i_neg pair
is that output_max and output_min can have the same sign, meaning that
it is possible that PID current can be limited to positive values only.

pytec/tec_qt.py

@@ -72,10 +72,6 @@ registerParameterType('mutex', MutexParameter)
 class WrappedClient(QObject, Client):
     connection_error = pyqtSignal()
 
-    async def start_session(self, *args, **kwargs):
-        await super().start_session(*args, **kwargs)
-        await self._sync_pwm_pid_limits()
-
     async def _read_line(self):
         try:
             return await super()._read_line()
@@ -83,25 +79,6 @@ class WrappedClient(QObject, Client):
             logging.error("Client connection error, disconnecting", exc_info=True)
             self.connection_error.emit()
 
-    async def _sync_pwm_pid_limits(self):
-        pwm_report = await self.get_pwm()
-        pid_report = await self.get_pid()
-        for pwm_channel, pid_channel in zip(pwm_report, pid_report):
-            ch = pwm_channel['channel']
-            if (pwm_limit := pwm_channel['max_i_pos']['value']) != (pid_limit := pid_channel['parameters']['output_max']):
-                # Set the minimum of the 2
-                if pwm_limit < pid_limit:
-                    await self.set_param('pid', ch, 'output_max', pwm_limit)
-                else:
-                    await self.set_param('pwm', ch, 'max_i_pos', pid_limit)
-
-            if (pwm_limit := -pwm_channel['max_i_neg']['value']) != (pid_limit := pid_channel['parameters']['output_min']):
-                # Set the minimum of the 2
-                if pwm_limit < pid_limit:
-                    await self.set_param('pid', ch, 'output_min', pwm_limit)
-                else:
-                    await self.set_param('pwm', ch, 'max_i_neg', -pid_limit)
-
 
 class ClientWatcher(QObject):
     fan_update = pyqtSignal(dict)
@@ -244,9 +221,9 @@ class MainWindow(QtWidgets.QMainWindow, Ui_MainWindow):
             ]},
             {'name': 'Limits', 'expanded': False, 'type': 'group', 'children': [
                 {'name': 'Max Current', 'type': 'float', 'value': 0, 'step': 100, 'decimals': 6, 'limits': (0, 3000),
-                'suffix': 'mA', 'param': [('pwm', ch, 'max_i_pos'), ('pid', ch, 'output_max')]},
+                'suffix': 'mA', 'param': [('pwm', ch, 'max_i_pos')]},
                 {'name': 'Min Current', 'type': 'float', 'value': 0, 'step': 100, 'decimals': 6, 'limits': (-3000, 0),
-                'suffix': 'mA', 'param': [('pwm', ch, 'max_i_neg', '-'), ('pid', ch, 'output_min')]},
+                'suffix': 'mA', 'param': [('pwm', ch, 'max_i_neg', '-')]},
                 {'name': 'Max Absolute Voltage', 'type': 'float', 'value': 0, 'step': 0.1, 'limits': (0, 5), 'siPrefix': True,
                 'suffix': 'V', 'param': [('pwm', ch, 'max_v')]},
             ]}
@@ -266,6 +243,8 @@ class MainWindow(QtWidgets.QMainWindow, Ui_MainWindow):
             {'name': 'Kp', 'type': 'float', 'step': 0.1, 'suffix': '', 'param': [('pid', ch, 'kp')]},
             {'name': 'Ki', 'type': 'float', 'step': 0.1, 'suffix': 'Hz', 'param': [('pid', ch, 'ki')]},
             {'name': 'Kd', 'type': 'float', 'step': 0.1, 'suffix': 's', 'param': [('pid', ch, 'kd')]},
+            {'name': 'Max Current Output', 'type': 'float', 'step': 100, 'limits': (-3000, 3000), 'decimals': 6, 'suffix': 'mA', 'param': [('pid', ch, 'output_max')]},
+            {'name': 'Min Current Output', 'type': 'float', 'step': 100, 'limits': (-3000, 3000), 'decimals': 6, 'suffix': 'mA', 'param': [('pid', ch, 'output_min')]},
             {'name': 'PID Auto Tune', 'expanded': False, 'type': 'group', 'children': [
                 {'name': 'Target Temperature', 'type': 'float', 'value': 20, 'step': 0.1, 'suffix': '°C'},
                 {'name': 'Test Current', 'type': 'float', 'value': 1000, 'decimals': 6, 'step': 100, 'limits': (-3000, 3000), 'suffix': 'mA'},
@@ -807,6 +786,8 @@ class MainWindow(QtWidgets.QMainWindow, Ui_MainWindow):
                 self.params[channel].child("PID Config", "Kp").setValue(settings["parameters"]["kp"])
                 self.params[channel].child("PID Config", "Ki").setValue(settings["parameters"]["ki"])
                 self.params[channel].child("PID Config", "Kd").setValue(settings["parameters"]["kd"])
+                self.params[channel].child("PID Config", "Max Current Output").setValue(settings["parameters"]["output_max"] * 1000)
+                self.params[channel].child("PID Config", "Min Current Output").setValue(settings["parameters"]["output_min"] * 1000)
                 self.params[channel].child("Output Config", "Control Method", "Set Temperature").setValue(settings["target"])
                 self.channel_graphs[channel].t_line.setValue(round(settings["target"], 6))